[ { "PX4nDJXEHrG.glb_chair": [ { "position": [ -13.7753, 0.76501, 4.51236 ], "radius": null, "object_id": 475, "object_name": "1_23_475", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "90ffb16e607e495b9c230de85201dac7", "observable_viewpoint_ids": [ "0_edge_347_newN_2", "310ded38502647188e97b980b77c2472", "b0a3ea6e7efb429eab0d0ede3174f906", "6993d4826f644c37b5632edde130ab67", "0_edge_347_newN_1", "90ffb16e607e495b9c230de85201dac7" ] }, { "position": [ -17.7513, 0.47525, 1.86158 ], "radius": null, "object_id": 506, "object_name": "1_24_506", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_510_newN_0", "observable_viewpoint_ids": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "643111d29ca04e74abff09ca7be0fcdc" ] }, { "position": [ -7.15422, 0.50668, 5.35337 ], "radius": null, "object_id": 422, "object_name": "1_19_422", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "9a65ec8ec80d41a492cf617c83b15ec6", "observable_viewpoint_ids": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_447_newN_1", "fd1c630635a94f78878d5b13a63274bf", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "0_edge_446_newN_2", "0_edge_446_newN_1", "f5933619d2914bdca7a58a004ec7c3df" ] }, { "position": [ -7.43671, 3.66713, -1.09618 ], "radius": null, "object_id": 794, "object_name": "1_29_794", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "31eced24029c4dacad2bba2b1a2b7af9", "observable_viewpoint_ids": [ "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ] }, { "position": [ -1.16766, 0.49533, -4.05756 ], "radius": null, "object_id": 357, "object_name": "1_17_357", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_63_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_509_newN_1" ] }, { "position": [ -3.51695, 0.33113, -6.52393 ], "radius": null, "object_id": 303, "object_name": "0_11_303", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "bc0a3324347a48db8b6ab84b732b1679", "observable_viewpoint_ids": [ "12_edge_486_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2", "12_edge_486_newN_0" ] }, { "position": [ -1.25771, 0.44563, 0.36654 ], "radius": null, "object_id": 362, "object_name": "1_17_362", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_576_newN_0", "observable_viewpoint_ids": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "c4b31a14960b43c0b4b17320ce76acd1" ] }, { "position": [ -18.2958, 0.42957, -4.11271 ], "radius": null, "object_id": 572, "object_name": "0_6_572", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_515_newN_0", "observable_viewpoint_ids": [ "769866f82e6b4388b8b63023532685e0", "f07aeb211ee441e5ae1845889055195d", "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869" ] }, { "position": [ -15.173, 0.42697, 7.7812 ], "radius": null, "object_id": 485, "object_name": "1_23_485", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_561_newN_0", "observable_viewpoint_ids": [ "104c429382034f88a37f95c5888e3557", "8702672b13ef44ab85da7062d5647237", "0_edge_560_newN_1", "0_edge_561_newN_0" ] }, { "position": [ -7.74485, 0.52612, 7.62597 ], "radius": null, "object_id": 410, "object_name": "1_19_410", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "observable_viewpoint_ids": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "10a315d020ac47408b86212a7e258279" ] }, { "position": [ -13.2416, 2.91253, -11.3524 ], "radius": null, "object_id": 960, "object_name": "1_12_960", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "e8f67d7392804d5e9284c74c2a5d926b", "observable_viewpoint_ids": [ "2f782cbda7884257a49e9c7538e1d87b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "0_edge_127_newN_1" ] }, { "position": [ -3.52899, 0.46806, -7.65496 ], "radius": null, "object_id": 308, "object_name": "0_11_308", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "12_edge_486_newN_1", "observable_viewpoint_ids": [ "12_edge_486_newN_1", "12_edge_486_newN_0", "6a57a23befa34262b84aa219156f1432" ] }, { "position": [ -3.0879, 3.53468, -3.80857 ], "radius": null, "object_id": 892, "object_name": "1_17_892", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "observable_viewpoint_ids": [ "1d262441697444b0908ea10b5ce60a59", "dec940911e0a44e7b51b8fa218fb3550", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "0_edge_16_newN_0" ] }, { "position": [ -3.53427, 0.45617, -7.11256 ], "radius": null, "object_id": 307, "object_name": "0_11_307", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "12_edge_486_newN_0", "observable_viewpoint_ids": [ "12_edge_486_newN_1", "12_edge_486_newN_0" ] }, { "position": [ -12.8322, 2.9626, -13.9397 ], "radius": null, "object_id": 966, "object_name": "1_12_966", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_198_newN_0", "observable_viewpoint_ids": [ "0_edge_198_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "0_edge_351_newN_1", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b" ] }, { "position": [ -12.4906, -0.45879, -11.4313 ], "radius": null, "object_id": 214, "object_name": "0_3_214", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "observable_viewpoint_ids": [ "0_edge_609_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "09fa27f2739d4b849d2cf604a6319170" ] }, { "position": [ -7.26759, 3.00908, -13.4021 ], "radius": null, "object_id": 955, "object_name": "1_12_955", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_289_newN_0", "observable_viewpoint_ids": [ "0_edge_133_newN_0", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_112_newN_1", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0" ] }, { "position": [ -12.3817, -0.43417, -14.2605 ], "radius": null, "object_id": 216, "object_name": "0_3_216", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_609_newN_0", "observable_viewpoint_ids": [ "0_edge_469_newN_0", "8f6e247cade44925bd3406f4590e24ae", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_0", "173a50fdd7d14bbb9475f84357ecae45" ] }, { "position": [ -10.8352, 2.87687, -17.9063 ], "radius": null, "object_id": 990, "object_name": "1_13_990", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "b6b7f34e5288498f83297dcf91047b11", "observable_viewpoint_ids": [ "0_edge_161_newN_1", "10_edge_117_newN_1", "4979277e157943be82cbff6c25ae8bef", "f45a8159957246ca86b466e86b1713e4", "b6b7f34e5288498f83297dcf91047b11", "5f1150236b444300ae38d24088e75a0b", "0_edge_35_newN_0", "5e9fea34971b40a995c9b1b5e69ca434" ] }, { "position": [ -9.4799, 2.89397, -17.8965 ], "radius": null, "object_id": 992, "object_name": "1_13_992", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "10_edge_117_newN_1", "observable_viewpoint_ids": [ "0_edge_161_newN_1", "0_edge_36_newN_0", "4979277e157943be82cbff6c25ae8bef", "5f1150236b444300ae38d24088e75a0b", "10_edge_117_newN_1", "0dd92311e1a34edb96d589118f687489", "0_edge_158_newN_0", "b6b7f34e5288498f83297dcf91047b11", "0_edge_161_newN_0", "0_edge_37_newN_0", "0_edge_36_newN_1" ] }, { "position": [ -7.43562, -0.43075, -18.8131 ], "radius": null, "object_id": 261, "object_name": "0_0_261", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "84fb90df9ca34c1da30776e93534bf3d", "observable_viewpoint_ids": [ "45e5c21ecc32454b9390fca6c7d78316", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "0_edge_373_newN_0" ] }, { "position": [ -11.0856, -0.41662, -18.9973 ], "radius": null, "object_id": 263, "object_name": "0_0_263", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "ae452693af47490ea50fd1057b04337d", "observable_viewpoint_ids": [ "0_edge_373_newN_0", "8d3e229a4b574c5d9cb86d2099f49d86", "d1081f33c992439a9d4ed420cddc5ff9", "519643de8cf8414db0d0191bab30f32d", "7d91f15f7b2d4c18b45ece193eabb9a3", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d" ] }, { "position": [ -9.51324, -0.42481, -19.5027 ], "radius": null, "object_id": 260, "object_name": "0_0_260", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_373_newN_0", "observable_viewpoint_ids": [ "0_edge_409_newN_0", "0_edge_373_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_1", "bf3aacc37c684ab4b66b732557d1c453", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d" ] }, { "position": [ -11.0702, -0.42232, -20.415 ], "radius": null, "object_id": 250, "object_name": "0_0_250", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "f924e8567e4a4a31bd456348ad343f9b", "observable_viewpoint_ids": [ "f924e8567e4a4a31bd456348ad343f9b", "0_edge_409_newN_0", "0_edge_373_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "519643de8cf8414db0d0191bab30f32d", "2cd98eed9ae24dec8ca021e761455fc6", "bf3aacc37c684ab4b66b732557d1c453", "0_edge_46_newN_0" ] }, { "position": [ -13.059, -0.42142, -19.7971 ], "radius": null, "object_id": 264, "object_name": "0_0_264", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_46_newN_0", "observable_viewpoint_ids": [ "8d3e229a4b574c5d9cb86d2099f49d86", "0_edge_513_newN_1", "519643de8cf8414db0d0191bab30f32d", "2cd98eed9ae24dec8ca021e761455fc6", "eb4f9f3d0aa1436991b324f79196bca9", "0_edge_46_newN_1", "0_edge_46_newN_0" ] }, { "position": [ -10.1381, -3.63121, -23.1848 ], "radius": null, "object_id": 3, "object_name": "0_0_3", "object_category": "chair", "room_id": null, "room_name": null, "viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "observable_viewpoint_ids": [ "a8620ab48374402187c81c4ccb48e01b", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9" ] }, { "all_observation_viewpoint_ids": [ "1d262441697444b0908ea10b5ce60a59", "f924e8567e4a4a31bd456348ad343f9b", "12_edge_486_newN_0", "0_edge_351_newN_1", "dec940911e0a44e7b51b8fa218fb3550", "0_edge_36_newN_0", "104c429382034f88a37f95c5888e3557", "ef98e16224ae4151a0f5e69ec03916f7", "6993d4826f644c37b5632edde130ab67", "5e9fea34971b40a995c9b1b5e69ca434", "0_edge_609_newN_1", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_16_newN_0", "0_edge_446_newN_1", "86d651b81a7c41c4a78b902b43fac9d0", "9a65ec8ec80d41a492cf617c83b15ec6", "ba9458d357074f62bee47dd2e5556854", "0_edge_513_newN_1", "0_edge_112_newN_1", "519643de8cf8414db0d0191bab30f32d", "eb4f9f3d0aa1436991b324f79196bca9", "10a315d020ac47408b86212a7e258279", "0_edge_161_newN_0", "0_edge_127_newN_1", "a5ccd398f969476da588bf4955c76e8e", "2fb14459ed8d496fae1ea1683a23493b", "2cd98eed9ae24dec8ca021e761455fc6", "e22e126c54a04ee091d6b18c6cb12440", "6a57a23befa34262b84aa219156f1432", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_35_newN_0", "2f782cbda7884257a49e9c7538e1d87b", "8f6e247cade44925bd3406f4590e24ae", "fefbf5f40d364b0fb096d1d93aba4316", "0_edge_466_newN_0", "54507d559ab2427982e8021989d48e50", "cadc13ee1b3e4b04b720062aa5f765fb", "e8f67d7392804d5e9284c74c2a5d926b", "209a0a0f9b4d4f3caaab3c25cbcd9105", "310ded38502647188e97b980b77c2472", "0_edge_515_newN_0", "0_edge_343_newN_0", "fd1c630635a94f78878d5b13a63274bf", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_373_newN_0", "0_edge_409_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_509_newN_1", "12_edge_486_newN_1", "45e5c21ecc32454b9390fca6c7d78316", "0_edge_46_newN_1", "ae452693af47490ea50fd1057b04337d", "643111d29ca04e74abff09ca7be0fcdc", "fa3b4a397c084131bcdd2e6954dab4e5", "81829ab350054bf297a7ebbb1eb4fcee", "0_edge_161_newN_1", "0_edge_409_newN_0", "8d3e229a4b574c5d9cb86d2099f49d86", "0_edge_471_newN_0", "0_edge_446_newN_2", "f07aeb211ee441e5ae1845889055195d", "0_edge_576_newN_0", "0_edge_36_newN_1", "4979277e157943be82cbff6c25ae8bef", "a8620ab48374402187c81c4ccb48e01b", "0_edge_344_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_313_newN_0", "0_edge_46_newN_0", "0_edge_198_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "10_edge_117_newN_1", "be542a5895594a1d98592023855f3a30", "0_edge_560_newN_1", "f45a8159957246ca86b466e86b1713e4", "7d91f15f7b2d4c18b45ece193eabb9a3", "0_edge_289_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_447_newN_1", "0_edge_133_newN_0", "945b55df8540463ba66ab57abbed4869", "8646134295d2446ba7e27db2fd6da710", "8702672b13ef44ab85da7062d5647237", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_561_newN_0", "0_edge_347_newN_1", "0_edge_609_newN_0", "0_edge_37_newN_0", "0_edge_383_newN_2", "173a50fdd7d14bbb9475f84357ecae45", "90ffb16e607e495b9c230de85201dac7", "c4b31a14960b43c0b4b17320ce76acd1", "0_edge_347_newN_2", "769866f82e6b4388b8b63023532685e0", "b0a3ea6e7efb429eab0d0ede3174f906", "0dd92311e1a34edb96d589118f687489", "31eced24029c4dacad2bba2b1a2b7af9", "bf3aacc37c684ab4b66b732557d1c453", "0_edge_112_newN_0", "0_edge_344_newN_2", "0_edge_158_newN_0", "d837361a192a46f796fa084b58952201", "09fa27f2739d4b849d2cf604a6319170", "3014b8cf45664302bb24e76ba6aec69b", "84fb90df9ca34c1da30776e93534bf3d", "a2131c9b8e674c3db73821fb924f1644", "0_edge_469_newN_0", "0_edge_63_newN_0", "e91955faab2b4a60ac33f48771b21c54", "b6b7f34e5288498f83297dcf91047b11", "5f1150236b444300ae38d24088e75a0b", "35538596d1564408a4d3ec39541feead" ] } ], "PX4nDJXEHrG.glb_sofa": [ { "position": [ -7.62997, -0.42176, -12.8743 ], "radius": null, "object_id": 217, "object_name": "0_1_217", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "f7d0095f6ae347d7b4d6f1b653005f4c", "observable_viewpoint_ids": [ "0_edge_585_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "55ecd451adf344d88152d33d56d88413", "0_edge_356_newN_0", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_334_newN_1", "0_edge_244_newN_0", "0_edge_340_newN_0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "position": [ -9.92397, -0.40595, -10.2921 ], "radius": null, "object_id": 208, "object_name": "0_3_208", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "09fa27f2739d4b849d2cf604a6319170", "observable_viewpoint_ids": [ "0_edge_355_newN_0", "0_edge_609_newN_1", "0_edge_356_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_471_newN_0", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "d1174dbd13454385b8a23cb15725b9a0" ] }, { "position": [ -15.1469, 0.5121, 1.98391 ], "radius": null, "object_id": 509, "object_name": "1_24_509", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_568_newN_0", "observable_viewpoint_ids": [ "0_edge_202_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "310ded38502647188e97b980b77c2472", "0_edge_343_newN_0", "0_edge_189_newN_0", "7a42af4caa814affbce3c5325c0eb181", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7" ] }, { "position": [ -6.20732, -0.41744, -20.121 ], "radius": null, "object_id": 255, "object_name": "0_0_255", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "52b3a84808ca4666982de6fbf6324acf", "observable_viewpoint_ids": [ "45e5c21ecc32454b9390fca6c7d78316", "84fb90df9ca34c1da30776e93534bf3d", "52b3a84808ca4666982de6fbf6324acf" ] }, { "position": [ -1.45799, 3.48852, 0.56627 ], "radius": null, "object_id": 898, "object_name": "1_17_898", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "201e139a7dba42d494a8290754252134", "observable_viewpoint_ids": [ "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab", "0_edge_261_newN_0" ] }, { "position": [ -9.28148, 2.97125, -14.2844 ], "radius": null, "object_id": 963, "object_name": "1_12_963", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "e056e877de1f47c9a08bb295c285f51a", "observable_viewpoint_ids": [ "3014b8cf45664302bb24e76ba6aec69b", "0_edge_351_newN_0", "0_edge_112_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_133_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "a5365f6b9c4d4c3fa0b098cddde858e1", "be542a5895594a1d98592023855f3a30", "0_edge_130_newN_0", "0_edge_115_newN_0", "0_edge_351_newN_1", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "e056e877de1f47c9a08bb295c285f51a", "86d651b81a7c41c4a78b902b43fac9d0", "0_edge_36_newN_1" ] }, { "position": [ -14.8416, -3.62411, -22.144 ], "radius": null, "object_id": 7, "object_name": "0_0_7", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "observable_viewpoint_ids": [ "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "position": [ -17.1069, -2.64438, -1.24943 ], "radius": null, "object_id": 85, "object_name": "0_6_85", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_88_newN_1", "observable_viewpoint_ids": [ "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "position": [ -18.7561, -2.71789, -2.23867 ], "radius": null, "object_id": 102, "object_name": "0_6_102", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_88_newN_1", "observable_viewpoint_ids": [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1", "97d4efbf203845a19e094f8f5383d33b", "71130c3762f74484947a64c3046c18a3" ] }, { "position": [ -15.476, -2.68431, -2.65338 ], "radius": null, "object_id": 110, "object_name": "0_6_110", "object_category": "sofa", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_318_newN_1", "observable_viewpoint_ids": [ "0_edge_435_newN_1", "10_edge_552_newN_0", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ] }, { "all_observation_viewpoint_ids": [ "0_edge_133_newN_0", "52b3a84808ca4666982de6fbf6324acf", "27d23c2605d24971a697f2404671fa04", "f7d0095f6ae347d7b4d6f1b653005f4c", "1d6750beee5c4d52aa62ff238cb0896d", "45e5c21ecc32454b9390fca6c7d78316", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_130_newN_0", "0_edge_351_newN_1", "0_edge_88_newN_1", "97d4efbf203845a19e094f8f5383d33b", "90ffb16e607e495b9c230de85201dac7", "0_edge_202_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "0_edge_435_newN_1", "0_edge_356_newN_0", "0_edge_261_newN_0", "0_edge_189_newN_0", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_471_newN_0", "0_edge_244_newN_0", "7a42af4caa814affbce3c5325c0eb181", "f873b983498b4e18bb5acfade836f2cf", "6993d4826f644c37b5632edde130ab67", "0_edge_115_newN_0", "0_edge_568_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_36_newN_1", "0_edge_585_newN_0", "0_edge_351_newN_0", "0_edge_112_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "201e139a7dba42d494a8290754252134", "0_edge_609_newN_1", "0_edge_190_newN_1", "a8620ab48374402187c81c4ccb48e01b", "a5365f6b9c4d4c3fa0b098cddde858e1", "310ded38502647188e97b980b77c2472", "40094a9ad3934b5cb69633e07e0bd6ab", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_343_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "701006439c3f44239c348b0b92833ca3", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "84fb90df9ca34c1da30776e93534bf3d", "3014b8cf45664302bb24e76ba6aec69b", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "86d651b81a7c41c4a78b902b43fac9d0", "71130c3762f74484947a64c3046c18a3", "0_edge_355_newN_0", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "10_edge_552_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "5d679afd01cb49259c38c0cb750319d2", "55ecd451adf344d88152d33d56d88413", "be542a5895594a1d98592023855f3a30", "0_edge_469_newN_1", "0_edge_334_newN_1", "0_edge_340_newN_0", "0_edge_289_newN_0", "e056e877de1f47c9a08bb295c285f51a" ] } ], "PX4nDJXEHrG.glb_bed": [ { "position": [ -20.9306, 0.61914, -2.7199 ], "radius": null, "object_id": 573, "object_name": "0_6_573", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "ebfb6f0280f145ea9c72600d76997c78", "observable_viewpoint_ids": [ "ebfb6f0280f145ea9c72600d76997c78", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869", "0_edge_245_newN_1", "0_edge_515_newN_0", "f07aeb211ee441e5ae1845889055195d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "position": [ -0.71539, 0.4406, -1.93528 ], "radius": null, "object_id": 345, "object_name": "1_17_345", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_63_newN_0", "observable_viewpoint_ids": [ "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_63_newN_0", "0_edge_65_newN_0", "0_edge_509_newN_1", "d837361a192a46f796fa084b58952201", "0_edge_576_newN_0" ] }, { "position": [ -18.038, 3.7253, -0.16146 ], "radius": null, "object_id": 761, "object_name": "1_24_761", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_221_newN_1", "observable_viewpoint_ids": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "0_edge_443_newN_0", "0_edge_443_newN_1", "0_edge_220_newN_1", "0_edge_221_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "c35ee12417344d66b004d046df9842de" ] }, { "position": [ -9.17628, 3.15376, -10.8102 ], "radius": null, "object_id": 956, "object_name": "1_12_956", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_112_newN_1", "observable_viewpoint_ids": [ "4f94dc20bae044b289358e718e8c5b05", "0_edge_133_newN_0", "27d23c2605d24971a697f2404671fa04", "ba9458d357074f62bee47dd2e5556854", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_112_newN_1", "6bd0017610ff445698c3aad76b4f9e12", "0_edge_127_newN_1" ] }, { "position": [ -0.64296, 3.50084, -1.83146 ], "radius": null, "object_id": 880, "object_name": "1_17_880", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "201e139a7dba42d494a8290754252134", "observable_viewpoint_ids": [ "37376bc376de4a1bbff1e45f6f420d0f", "201e139a7dba42d494a8290754252134", "dec940911e0a44e7b51b8fa218fb3550", "721eb57eb6c14bdd80a31060a0365ef8", "40094a9ad3934b5cb69633e07e0bd6ab", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "0_edge_261_newN_0" ] }, { "position": [ -7.1226, -2.54129, -12.4625 ], "radius": null, "object_id": 12, "object_name": "0_1_12", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "b634b67520bf4c579f044a8e433b021d", "observable_viewpoint_ids": [ "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "b726980e1c804d86856a2d0dd472e571" ] }, { "position": [ 0.50022, 1.12726, -1.93636 ], "radius": null, "object_id": 371, "object_name": "1_17_371", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_63_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "0_edge_576_newN_0" ] }, { "position": [ 0.48937, 4.14737, -1.83532 ], "radius": null, "object_id": 916, "object_name": "2_40_916", "object_category": "bed", "room_id": null, "room_name": null, "viewpoint_id": "201e139a7dba42d494a8290754252134", "observable_viewpoint_ids": [ "0_edge_16_newN_0", "201e139a7dba42d494a8290754252134", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "all_observation_viewpoint_ids": [ "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_133_newN_0", "27d23c2605d24971a697f2404671fa04", "945b55df8540463ba66ab57abbed4869", "4f0a87d560244c2f926f2110e9dfc1e4", "721eb57eb6c14bdd80a31060a0365ef8", "3bb211c9aabb496c8c5474f242e71a4f", "0_edge_443_newN_0", "dec940911e0a44e7b51b8fa218fb3550", "280d28cd4c80476384046234022051f9", "0_edge_443_newN_1", "0_edge_220_newN_1", "0_edge_245_newN_1", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_261_newN_0", "f07aeb211ee441e5ae1845889055195d", "0_edge_576_newN_0", "b634b67520bf4c579f044a8e433b021d", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "7bcfa9163bbc47e489988d011b395a35", "201e139a7dba42d494a8290754252134", "0_edge_515_newN_0", "0_edge_221_newN_1", "40094a9ad3934b5cb69633e07e0bd6ab", "0_edge_16_newN_0", "6bd0017610ff445698c3aad76b4f9e12", "d837361a192a46f796fa084b58952201", "b726980e1c804d86856a2d0dd472e571", "ebfb6f0280f145ea9c72600d76997c78", "4f94dc20bae044b289358e718e8c5b05", "31e2ead1db884aa0974a21674f83b488", "37376bc376de4a1bbff1e45f6f420d0f", "ba9458d357074f62bee47dd2e5556854", "853fb2412aa04958bdeb58a0c2a5f654", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_63_newN_0", "0_edge_112_newN_1", "0_edge_65_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_509_newN_1", "c35ee12417344d66b004d046df9842de", "d2e318aae7cb4c0198f72c97f7d2aedb", "0_edge_127_newN_1" ] } ], "PX4nDJXEHrG.glb_shower": [ { "position": [ -18.3886, 4.73585, -3.80138 ], "radius": null, "object_id": 1038, "object_name": "2_46_1038", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "4280d68aa5de47788b1edb650c6280c7", "observable_viewpoint_ids": [ "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "position": [ -19.1762, 1.54049, 0.28688 ], "radius": null, "object_id": 594, "object_name": "1_28_594", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_344_newN_2", "observable_viewpoint_ids": [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] }, { "position": [ -4.75164, 0.18127, 5.05108 ], "radius": null, "object_id": 401, "object_name": "1_18_401", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "b20afa1056624aaca536b2bc6af05de8", "observable_viewpoint_ids": [ "b20afa1056624aaca536b2bc6af05de8", "9a65ec8ec80d41a492cf617c83b15ec6", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "position": [ -16.4882, -3.042, -18.8313 ], "radius": null, "object_id": 31, "object_name": "0_2_31", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "165270ae7e7746c28500dd0fc3f84960", "observable_viewpoint_ids": [ "b0e31a5d1f254167a442608bb1b1eadc", "5d679afd01cb49259c38c0cb750319d2", "16aea59da05d408683abb0ecbea14077", "165270ae7e7746c28500dd0fc3f84960", "691f6fa3625b48539b1a686c2fbdcaad" ] }, { "position": [ -6.13557, -3.02303, -3.29264 ], "radius": null, "object_id": 1023, "object_name": "0_45_1023", "object_category": "shower", "room_id": null, "room_name": null, "viewpoint_id": "0952da4444d04fd3a33c406da20d6f8e", "observable_viewpoint_ids": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e" ] }, { "all_observation_viewpoint_ids": [ "b0e31a5d1f254167a442608bb1b1eadc", "9a65ec8ec80d41a492cf617c83b15ec6", "4280d68aa5de47788b1edb650c6280c7", "4ad4f9b025b441aab57a1eba3bd1c2c4", "5d679afd01cb49259c38c0cb750319d2", "36f960692401420f90d5448db9e22615", "b20afa1056624aaca536b2bc6af05de8", "16aea59da05d408683abb0ecbea14077", "badffebebfcf4e7cb8883d6a0f8fa25d", "165270ae7e7746c28500dd0fc3f84960", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "691f6fa3625b48539b1a686c2fbdcaad" ] } ], "PX4nDJXEHrG.glb_cushion": [ { "position": [ -2.24555, 3.73961, 0.5531 ], "radius": null, "object_id": 920, "object_name": "1_17_920", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "ee7f6616e9894db580c78b08a6aa7343", "observable_viewpoint_ids": [ "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "ee7f6616e9894db580c78b08a6aa7343" ] }, { "position": [ -1.92005, 3.68147, 0.55782 ], "radius": null, "object_id": 928, "object_name": "1_17_928", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "ee7f6616e9894db580c78b08a6aa7343", "observable_viewpoint_ids": [ "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "ee7f6616e9894db580c78b08a6aa7343" ] }, { "position": [ -1.20046, 3.69702, 0.57412 ], "radius": null, "object_id": 902, "object_name": "1_17_902", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "observable_viewpoint_ids": [ "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab" ] }, { "position": [ -0.90477, 3.72479, 0.52044 ], "radius": null, "object_id": 924, "object_name": "1_17_924", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "observable_viewpoint_ids": [ "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab" ] }, { "position": [ 0.2367, 3.89651, -2.30141 ], "radius": null, "object_id": 923, "object_name": "2_40_923", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "observable_viewpoint_ids": [ "0_edge_16_newN_0", "201e139a7dba42d494a8290754252134", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "position": [ -15.1136, 0.63427, 2.26962 ], "radius": null, "object_id": 526, "object_name": "1_24_526", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "310ded38502647188e97b980b77c2472", "observable_viewpoint_ids": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "310ded38502647188e97b980b77c2472", "0_edge_343_newN_0", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7" ] }, { "position": [ 0.24164, 4.02638, -1.50285 ], "radius": null, "object_id": 922, "object_name": "2_40_922", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "201e139a7dba42d494a8290754252134", "observable_viewpoint_ids": [ "201e139a7dba42d494a8290754252134", "721eb57eb6c14bdd80a31060a0365ef8", "40094a9ad3934b5cb69633e07e0bd6ab", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0" ] }, { "position": [ -0.00535, 4.05372, -1.78219 ], "radius": null, "object_id": 897, "object_name": "2_40_897", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "201e139a7dba42d494a8290754252134", "observable_viewpoint_ids": [ "201e139a7dba42d494a8290754252134", "721eb57eb6c14bdd80a31060a0365ef8", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "0_edge_261_newN_0" ] }, { "position": [ -17.7528, 0.59059, 2.41837 ], "radius": null, "object_id": 531, "object_name": "1_24_531", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_343_newN_0", "observable_viewpoint_ids": [ "0_edge_344_newN_1", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0" ] }, { "position": [ -1.02745, 0.55956, -4.01365 ], "radius": null, "object_id": 380, "object_name": "1_17_380", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_63_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "position": [ -1.20382, 0.65293, 0.43585 ], "radius": null, "object_id": 344, "object_name": "1_17_344", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_576_newN_0", "observable_viewpoint_ids": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "c4b31a14960b43c0b4b17320ce76acd1" ] }, { "position": [ -15.949, 0.73043, 7.82998 ], "radius": null, "object_id": 498, "object_name": "1_23_498", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "104c429382034f88a37f95c5888e3557", "observable_viewpoint_ids": [ "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557" ] }, { "position": [ -21.6142, 0.96015, -2.7583 ], "radius": null, "object_id": 565, "object_name": "1_26_565", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "ebfb6f0280f145ea9c72600d76997c78", "observable_viewpoint_ids": [ "ebfb6f0280f145ea9c72600d76997c78", "0_edge_245_newN_1", "0_edge_515_newN_0", "f07aeb211ee441e5ae1845889055195d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "position": [ 0.20498, 0.85365, -1.5505 ], "radius": null, "object_id": 359, "object_name": "1_17_359", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_576_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0" ] }, { "position": [ -14.3556, 0.69588, 7.87559 ], "radius": null, "object_id": 493, "object_name": "1_23_493", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_561_newN_0", "observable_viewpoint_ids": [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0" ] }, { "position": [ -7.65188, -0.26173, -12.207 ], "radius": null, "object_id": 243, "object_name": "0_1_243", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_585_newN_0", "observable_viewpoint_ids": [ "0_edge_585_newN_0", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_356_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf" ] }, { "position": [ -9.04412, -0.21125, -10.2311 ], "radius": null, "object_id": 242, "object_name": "0_3_242", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_244_newN_0", "observable_viewpoint_ids": [ "0_edge_467_newN_1", "0_edge_356_newN_0", "0_edge_244_newN_0" ] }, { "position": [ -7.54311, -0.24089, -13.4956 ], "radius": null, "object_id": 231, "object_name": "0_1_231", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_334_newN_1", "observable_viewpoint_ids": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_334_newN_1", "0_edge_340_newN_0" ] }, { "position": [ -10.5046, -0.26421, -10.2878 ], "radius": null, "object_id": 225, "object_name": "0_3_225", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "09fa27f2739d4b849d2cf604a6319170", "observable_viewpoint_ids": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_609_newN_1", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "position": [ -10.809, -0.18306, -10.234 ], "radius": null, "object_id": 220, "object_name": "0_3_220", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "observable_viewpoint_ids": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "position": [ -12.589, -0.2395, -11.367 ], "radius": null, "object_id": 239, "object_name": "0_3_239", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "observable_viewpoint_ids": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "position": [ -12.5046, -0.22278, -14.3361 ], "radius": null, "object_id": 233, "object_name": "0_3_233", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_609_newN_0", "observable_viewpoint_ids": [ "0_edge_609_newN_0", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5" ] }, { "position": [ -17.56, -2.48027, -1.39105 ], "radius": null, "object_id": 87, "object_name": "0_6_87", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_88_newN_1", "observable_viewpoint_ids": [ "0_edge_88_newN_1" ] }, { "position": [ -17.8898, -2.45636, -1.35745 ], "radius": null, "object_id": 108, "object_name": "0_6_108", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_88_newN_1", "observable_viewpoint_ids": [ "0_edge_88_newN_1" ] }, { "position": [ -6.44086, -2.99701, -6.30206 ], "radius": null, "object_id": 205, "object_name": "0_11_205", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_482_newN_0", "observable_viewpoint_ids": [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_482_newN_0", "0_edge_272_newN_1", "372d9c5a8d394815a470573708b4f8cd" ] }, { "position": [ 0.21695, 0.86973, -2.38999 ], "radius": null, "object_id": 351, "object_name": "1_17_351", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_63_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "0_edge_576_newN_0" ] }, { "position": [ -0.2103, 0.85758, -1.79107 ], "radius": null, "object_id": 375, "object_name": "1_17_375", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_576_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ] }, { "position": [ -0.06629, 0.8889, -1.95724 ], "radius": null, "object_id": 377, "object_name": "1_17_377", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_63_newN_0", "observable_viewpoint_ids": [ "0_edge_63_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ] }, { "position": [ -0.29243, 4.00811, -1.79463 ], "radius": null, "object_id": 921, "object_name": "2_40_921", "object_category": "cushion", "room_id": null, "room_name": null, "viewpoint_id": "201e139a7dba42d494a8290754252134", "observable_viewpoint_ids": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0" ] }, { "all_observation_viewpoint_ids": [ "8702672b13ef44ab85da7062d5647237", "4f0a87d560244c2f926f2110e9dfc1e4", "f7d0095f6ae347d7b4d6f1b653005f4c", "721eb57eb6c14bdd80a31060a0365ef8", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_561_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_88_newN_1", "0_edge_609_newN_0", "173a50fdd7d14bbb9475f84357ecae45", "90ffb16e607e495b9c230de85201dac7", "c4b31a14960b43c0b4b17320ce76acd1", "3bb211c9aabb496c8c5474f242e71a4f", "0_edge_333_newN_0", "0_edge_333_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_245_newN_1", "0_edge_466_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_356_newN_0", "0_edge_261_newN_0", "0_edge_189_newN_0", "0_edge_471_newN_0", "0_edge_244_newN_0", "6993d4826f644c37b5632edde130ab67", "f873b983498b4e18bb5acfade836f2cf", "f07aeb211ee441e5ae1845889055195d", "0_edge_568_newN_0", "0_edge_576_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0_edge_585_newN_0", "201e139a7dba42d494a8290754252134", "209a0a0f9b4d4f3caaab3c25cbcd9105", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_190_newN_1", "0_edge_609_newN_1", "40094a9ad3934b5cb69633e07e0bd6ab", "310ded38502647188e97b980b77c2472", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_16_newN_0", "0_edge_515_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_482_newN_0", "701006439c3f44239c348b0b92833ca3", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_272_newN_1", "d837361a192a46f796fa084b58952201", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "ebfb6f0280f145ea9c72600d76997c78", "ee7f6616e9894db580c78b08a6aa7343", "55ecd451adf344d88152d33d56d88413", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_63_newN_0", "0_edge_334_newN_1", "0_edge_340_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "35538596d1564408a4d3ec39541feead" ] } ], "PX4nDJXEHrG.glb_cabinet": [ { "position": [ -7.84513, -2.5503, -3.31585 ], "radius": null, "object_id": 1018, "object_name": "0_45_1018", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "0952da4444d04fd3a33c406da20d6f8e", "observable_viewpoint_ids": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e" ] }, { "position": [ -19.8303, -2.42294, -2.1866 ], "radius": null, "object_id": 98, "object_name": "0_6_98", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_357_newN_0", "observable_viewpoint_ids": [ "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ] }, { "position": [ -5.84709, -0.34848, -13.3698 ], "radius": null, "object_id": 218, "object_name": "0_1_218", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "f7d0095f6ae347d7b4d6f1b653005f4c", "observable_viewpoint_ids": [ "0_edge_333_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "55ecd451adf344d88152d33d56d88413", "0_edge_334_newN_1", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf" ] }, { "position": [ -10.885, 1.38227, -5.3318 ], "radius": null, "object_id": 279, "object_name": "1_14_279", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "observable_viewpoint_ids": [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "cfb40a8a73414375a43798a7133d28c4", "0_edge_152_newN_0", "d218377018e14219a034d3bcf992d9a1", "eda4b648d33d436aa09516400af0de9b", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "0_edge_153_newN_1" ] }, { "position": [ -14.9647, 0.53005, -2.48046 ], "radius": null, "object_id": 539, "object_name": "0_6_539", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "bc988e98c7e44f129dcc49976264f7b1", "observable_viewpoint_ids": [ "7c41f500f2ce4b7a9916e292221a7740", "bc988e98c7e44f129dcc49976264f7b1", "3229309326224f1b93f98c1ed36594da", "7a381be117474e159e339b7bcce0baf3", "7a939072217043dfa0af4d1206ab3c86" ] }, { "position": [ -16.4697, 1.24453, -3.06673 ], "radius": null, "object_id": 543, "object_name": "1_25_543", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "bc988e98c7e44f129dcc49976264f7b1", "observable_viewpoint_ids": [ "7c41f500f2ce4b7a9916e292221a7740", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3" ] }, { "position": [ -20.6429, 0.44441, 0.67013 ], "radius": null, "object_id": 599, "object_name": "1_28_599", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "badffebebfcf4e7cb8883d6a0f8fa25d", "observable_viewpoint_ids": [ "814d798917b14527a61e1135e74d6bba", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "position": [ -17.3822, 3.4341, -8.6612 ], "radius": null, "object_id": 730, "object_name": "1_14_730", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "observable_viewpoint_ids": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ] }, { "position": [ -7.10567, 3.46825, -5.77471 ], "radius": null, "object_id": 841, "object_name": "1_14_841", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "23d3a1b1dc134acc8ffa787e2ee558ed", "observable_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "a0b14b141fcd42ac8c56f66ede5be8b0" ] }, { "position": [ -6.35679, 3.50138, -8.50067 ], "radius": null, "object_id": 849, "object_name": "1_14_849", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "observable_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b" ] }, { "position": [ -4.0964, 3.56063, -7.16102 ], "radius": null, "object_id": 873, "object_name": "1_14_873", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "a0b14b141fcd42ac8c56f66ede5be8b0", "observable_viewpoint_ids": [ "ba9624a97ad74614968e00edc698f4c7", "253d678706ed4761b6b6b28df93f075c", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ] }, { "position": [ -9.95721, 4.26066, -7.07951 ], "radius": null, "object_id": 935, "object_name": "2_41_935", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_215_newN_0", "observable_viewpoint_ids": [ "ee51e32e785e4649ae13c9152ec68893", "5260f113c5f542a8b6b115cbdfc9fef5", "ba9458d357074f62bee47dd2e5556854", "151c624d368e4ca9b262e26421228101", "6dbb762da390463f83fc26b02e723259", "0_edge_215_newN_0", "6bd0017610ff445698c3aad76b4f9e12", "17cfb9ce044443479e0a2a89925316a5", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "position": [ -20.1355, 3.63282, -3.29485 ], "radius": null, "object_id": 1042, "object_name": "1_26_1042", "object_category": "cabinet", "room_id": null, "room_name": null, "viewpoint_id": "36f960692401420f90d5448db9e22615", "observable_viewpoint_ids": [ "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "all_observation_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b", "ee51e32e785e4649ae13c9152ec68893", "8646134295d2446ba7e27db2fd6da710", "cfb40a8a73414375a43798a7133d28c4", "f7d0095f6ae347d7b4d6f1b653005f4c", "3229309326224f1b93f98c1ed36594da", "86f4a6bece3b4edc8e71cc0d03cef2ca", "7a381be117474e159e339b7bcce0baf3", "814d798917b14527a61e1135e74d6bba", "23d3a1b1dc134acc8ffa787e2ee558ed", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_215_newN_0", "eaa924cd93794010a866d09389edd172", "00e65e341f5843d385964e17103e6ae3", "3bb211c9aabb496c8c5474f242e71a4f", "253d678706ed4761b6b6b28df93f075c", "0_edge_333_newN_1", "8c874344710140e681d78c046d471afc", "5260f113c5f542a8b6b115cbdfc9fef5", "4280d68aa5de47788b1edb650c6280c7", "6e0c4533325b431db69bee9e850f3d07", "0_edge_152_newN_0", "0_edge_148_newN_0", "cadc13ee1b3e4b04b720062aa5f765fb", "f873b983498b4e18bb5acfade836f2cf", "e8f67d7392804d5e9284c74c2a5d926b", "6e8e41636dc84e94af80d009663e7c75", "7c41f500f2ce4b7a9916e292221a7740", "1495db5760cf415299116892de94695a", "ba9624a97ad74614968e00edc698f4c7", "7bcfa9163bbc47e489988d011b395a35", "a0b14b141fcd42ac8c56f66ede5be8b0", "151c624d368e4ca9b262e26421228101", "d218377018e14219a034d3bcf992d9a1", "53652351502d4b5dba01ad8f23be3443", "eda4b648d33d436aa09516400af0de9b", "701006439c3f44239c348b0b92833ca3", "6bd0017610ff445698c3aad76b4f9e12", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "71130c3762f74484947a64c3046c18a3", "0_edge_153_newN_1", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "137543cd90ed4a90a10b244b14014cf0", "ba9458d357074f62bee47dd2e5556854", "55ecd451adf344d88152d33d56d88413", "bc988e98c7e44f129dcc49976264f7b1", "36f960692401420f90d5448db9e22615", "7a939072217043dfa0af4d1206ab3c86", "0_edge_334_newN_1", "0_edge_262_newN_1", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] } ], "PX4nDJXEHrG.glb_table": [ { "position": [ -12.1371, 3.73126, -1.31105 ], "radius": null, "object_id": 792, "object_name": "1_29_792", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "ea6f8b054a3b493482b183a6e92b9aa7", "observable_viewpoint_ids": [ "0_edge_405_newN_0", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7" ] }, { "position": [ -9.32278, 3.50708, -0.98156 ], "radius": null, "object_id": 804, "object_name": "1_29_804", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "a2131c9b8e674c3db73821fb924f1644", "observable_viewpoint_ids": [ "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_1", "31eced24029c4dacad2bba2b1a2b7af9", "ea6f8b054a3b493482b183a6e92b9aa7" ] }, { "position": [ -9.15111, 0.52385, -2.17197 ], "radius": null, "object_id": 628, "object_name": "1_29_628", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_476_newN_0", "observable_viewpoint_ids": [ "24dbd843e0fe400baa0228c00158bb29", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "0_edge_476_newN_0", "c8ce61375bc8403691ec503de5401235" ] }, { "position": [ -6.90826, 3.43412, -1.46638 ], "radius": null, "object_id": 823, "object_name": "1_29_823", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "31eced24029c4dacad2bba2b1a2b7af9", "observable_viewpoint_ids": [ "81829ab350054bf297a7ebbb1eb4fcee", "673c93ec5cfd45efb87f064bd4723f8d", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "position": [ -9.86686, 3.59877, -7.39341 ], "radius": null, "object_id": 940, "object_name": "1_14_940", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "ee51e32e785e4649ae13c9152ec68893", "observable_viewpoint_ids": [ "ee51e32e785e4649ae13c9152ec68893", "151c624d368e4ca9b262e26421228101", "6dbb762da390463f83fc26b02e723259", "0_edge_215_newN_0", "6bd0017610ff445698c3aad76b4f9e12", "17cfb9ce044443479e0a2a89925316a5" ] }, { "position": [ -16.6631, 0.3936, -7.31342 ], "radius": null, "object_id": 285, "object_name": "0_5_285", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "889965f33b0e46938abc58b97fda5aef", "observable_viewpoint_ids": [ "889965f33b0e46938abc58b97fda5aef", "8c874344710140e681d78c046d471afc", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "d218377018e14219a034d3bcf992d9a1", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "0_edge_483_newN_0", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "position": [ -9.48458, 0.44795, 2.60078 ], "radius": null, "object_id": 444, "object_name": "1_20_444", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "b86db2322dcf44538d16e38cc789df6c", "observable_viewpoint_ids": [ "9bd6013e7ccd46c28789c54605a56151", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "e22e126c54a04ee091d6b18c6cb12440", "add7a68256564d1b85b560fb614beedd", "fd1c630635a94f78878d5b13a63274bf", "b86db2322dcf44538d16e38cc789df6c" ] }, { "position": [ -15.29, 0.58829, 0.80239 ], "radius": null, "object_id": 520, "object_name": "1_24_520", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_190_newN_1", "observable_viewpoint_ids": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "7a42af4caa814affbce3c5325c0eb181", "0_edge_568_newN_0" ] }, { "position": [ -3.12815, 3.7479, -4.35095 ], "radius": null, "object_id": 905, "object_name": "1_17_905", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "00e65e341f5843d385964e17103e6ae3", "observable_viewpoint_ids": [ "1d262441697444b0908ea10b5ce60a59", "dec940911e0a44e7b51b8fa218fb3550", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "0_edge_16_newN_0" ] }, { "position": [ -15.2814, 0.27368, 3.14778 ], "radius": null, "object_id": 527, "object_name": "1_24_527", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "6993d4826f644c37b5632edde130ab67", "observable_viewpoint_ids": [ "310ded38502647188e97b980b77c2472", "0_edge_343_newN_0", "0_edge_189_newN_0", "0_edge_347_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7" ] }, { "position": [ -12.831, 2.86717, -12.5615 ], "radius": null, "object_id": 967, "object_name": "1_12_967", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "54507d559ab2427982e8021989d48e50", "observable_viewpoint_ids": [ "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "position": [ -16.3983, 0.39158, 1.95705 ], "radius": null, "object_id": 523, "object_name": "1_24_523", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_343_newN_0", "observable_viewpoint_ids": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_344_newN_1", "0_edge_343_newN_0", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "position": [ -13.3425, 2.97315, -13.3909 ], "radius": null, "object_id": 980, "object_name": "1_12_980", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_198_newN_0", "observable_viewpoint_ids": [ "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "fa3b4a397c084131bcdd2e6954dab4e5" ] }, { "position": [ -9.24882, 2.76007, -12.9901 ], "radius": null, "object_id": 973, "object_name": "1_12_973", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "27d23c2605d24971a697f2404671fa04", "observable_viewpoint_ids": [ "0_edge_133_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_1", "0_edge_130_newN_0", "0_edge_115_newN_0", "0_edge_127_newN_1" ] }, { "position": [ -16.3956, 0.24163, 3.23019 ], "radius": null, "object_id": 524, "object_name": "1_24_524", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "13c30ac9dae6410fa1da3247fba2af76", "observable_viewpoint_ids": [ "0_edge_343_newN_0", "0_edge_189_newN_0", "0_edge_347_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "position": [ -2.79591, 3.39055, 0.6605 ], "radius": null, "object_id": 927, "object_name": "1_17_927", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "ee7f6616e9894db580c78b08a6aa7343", "observable_viewpoint_ids": [ "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "0_edge_261_newN_0" ] }, { "position": [ -17.8102, 0.24576, 3.1824 ], "radius": null, "object_id": 515, "object_name": "1_24_515", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "ee92ff66de3d44e9bc50bae691e83d92", "observable_viewpoint_ids": [ "0_edge_343_newN_0", "0_edge_347_newN_0", "ee92ff66de3d44e9bc50bae691e83d92", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "position": [ -15.1686, 0.26033, 6.28419 ], "radius": null, "object_id": 488, "object_name": "1_23_488", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_347_newN_1", "observable_viewpoint_ids": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "104c429382034f88a37f95c5888e3557", "0_edge_561_newN_0", "0_edge_560_newN_1", "0_edge_191_newN_0", "0_edge_347_newN_1" ] }, { "position": [ -0.18223, 3.32628, 0.59012 ], "radius": null, "object_id": 899, "object_name": "1_17_899", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "observable_viewpoint_ids": [ "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab" ] }, { "position": [ -7.66063, 0.43789, 6.53369 ], "radius": null, "object_id": 408, "object_name": "1_19_408", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_446_newN_1", "observable_viewpoint_ids": [ "9a65ec8ec80d41a492cf617c83b15ec6", "a5ccd398f969476da588bf4955c76e8e", "0_edge_447_newN_1", "e91955faab2b4a60ac33f48771b21c54", "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279", "0_edge_446_newN_1", "f5933619d2914bdca7a58a004ec7c3df" ] }, { "position": [ -4.0585, 0.72677, -7.10107 ], "radius": null, "object_id": 310, "object_name": "0_11_310", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "12_edge_486_newN_0", "observable_viewpoint_ids": [ "12_edge_486_newN_1", "0_edge_520_newN_0", "12_edge_486_newN_0", "0_edge_521_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "6a57a23befa34262b84aa219156f1432", "0_edge_383_newN_2" ] }, { "position": [ -6.49975, 3.15387, -13.2378 ], "radius": null, "object_id": 953, "object_name": "1_12_953", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_313_newN_0", "observable_viewpoint_ids": [ "4f94dc20bae044b289358e718e8c5b05", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "ef98e16224ae4151a0f5e69ec03916f7", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0" ] }, { "position": [ -16.6116, 0.33226, 7.77408 ], "radius": null, "object_id": 499, "object_name": "1_23_499", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "104c429382034f88a37f95c5888e3557", "observable_viewpoint_ids": [ "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557" ] }, { "position": [ -8.31349, -0.45315, -10.2963 ], "radius": null, "object_id": 223, "object_name": "1_12_223", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_244_newN_0", "observable_viewpoint_ids": [ "0_edge_355_newN_0", "0_edge_356_newN_0", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_467_newN_1", "d1174dbd13454385b8a23cb15725b9a0" ] }, { "position": [ -13.6688, 0.4356, 7.77368 ], "radius": null, "object_id": 496, "object_name": "1_23_496", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_561_newN_0", "observable_viewpoint_ids": [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0" ] }, { "position": [ -10.039, -0.44914, -12.7916 ], "radius": null, "object_id": 213, "object_name": "0_3_213", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_469_newN_0", "observable_viewpoint_ids": [ "0_edge_585_newN_0", "0_edge_333_newN_0", "0_edge_469_newN_0", "0_edge_609_newN_1", "0_edge_466_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_244_newN_0", "0_edge_340_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ] }, { "position": [ -11.5223, -0.29297, -10.288 ], "radius": null, "object_id": 240, "object_name": "0_3_240", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "observable_viewpoint_ids": [ "cadc13ee1b3e4b04b720062aa5f765fb", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "position": [ -6.37189, -0.54169, -18.804 ], "radius": null, "object_id": 270, "object_name": "0_0_270", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "84fb90df9ca34c1da30776e93534bf3d", "observable_viewpoint_ids": [ "45e5c21ecc32454b9390fca6c7d78316" ] }, { "position": [ -7.457, -0.53738, -20.0915 ], "radius": null, "object_id": 271, "object_name": "0_0_271", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "52b3a84808ca4666982de6fbf6324acf", "observable_viewpoint_ids": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_0", "0_edge_373_newN_0", "0_edge_409_newN_1", "bf3aacc37c684ab4b66b732557d1c453", "84fb90df9ca34c1da30776e93534bf3d" ] }, { "position": [ -11.0745, -0.41678, -19.8061 ], "radius": null, "object_id": 254, "object_name": "0_0_254", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "f924e8567e4a4a31bd456348ad343f9b", "observable_viewpoint_ids": [ "f924e8567e4a4a31bd456348ad343f9b", "0_edge_409_newN_0", "0_edge_373_newN_0", "8d3e229a4b574c5d9cb86d2099f49d86", "d1081f33c992439a9d4ed420cddc5ff9", "519643de8cf8414db0d0191bab30f32d", "2cd98eed9ae24dec8ca021e761455fc6", "bf3aacc37c684ab4b66b732557d1c453", "ae452693af47490ea50fd1057b04337d", "0_edge_46_newN_0", "84fb90df9ca34c1da30776e93534bf3d" ] }, { "position": [ -17.1211, -2.68534, -4.36925 ], "radius": null, "object_id": 105, "object_name": "0_6_105", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "97d4efbf203845a19e094f8f5383d33b", "observable_viewpoint_ids": [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b" ] }, { "position": [ -17.0517, -2.77176, -2.55452 ], "radius": null, "object_id": 114, "object_name": "0_6_114", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "97d4efbf203845a19e094f8f5383d33b", "observable_viewpoint_ids": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "position": [ -18.448, -2.84955, -1.29258 ], "radius": null, "object_id": 116, "object_name": "0_6_116", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "585a4140cec24801b4785d40092ba964", "observable_viewpoint_ids": [ "0_edge_88_newN_1" ] }, { "position": [ -5.68502, -2.78733, -6.2198 ], "radius": null, "object_id": 186, "object_name": "0_11_186", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_482_newN_0", "observable_viewpoint_ids": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_384_newN_0", "372d9c5a8d394815a470573708b4f8cd" ] }, { "position": [ -5.64851, -2.59079, -5.50925 ], "radius": null, "object_id": 191, "object_name": "0_11_191", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_272_newN_0", "observable_viewpoint_ids": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_482_newN_0", "0_edge_272_newN_1", "38808050304946dfb262966b02c6ae4e", "0_edge_384_newN_0", "372d9c5a8d394815a470573708b4f8cd" ] }, { "position": [ -3.13993, -2.94825, -5.58803 ], "radius": null, "object_id": 201, "object_name": "0_11_201", "object_category": "table", "room_id": null, "room_name": null, "viewpoint_id": "248dcb819089462a98fd16c5d7676fd7", "observable_viewpoint_ids": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_272_newN_0" ] }, { "all_observation_viewpoint_ids": [ "1d262441697444b0908ea10b5ce60a59", "f924e8567e4a4a31bd456348ad343f9b", "0_edge_405_newN_0", "ee51e32e785e4649ae13c9152ec68893", "52b3a84808ca4666982de6fbf6324acf", "12_edge_486_newN_0", "0_edge_347_newN_0", "0_edge_333_newN_0", "dec940911e0a44e7b51b8fa218fb3550", "8c874344710140e681d78c046d471afc", "ee987ba0e8ee44c1a95ff0f958f31791", "104c429382034f88a37f95c5888e3557", "0_edge_534_newN_0", "0_edge_521_newN_1", "0_edge_261_newN_0", "0_edge_115_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "dfb6d728749e4dbb9116902a8f2dd6eb", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "b86db2322dcf44538d16e38cc789df6c", "0_edge_585_newN_0", "24dbd843e0fe400baa0228c00158bb29", "0_edge_190_newN_1", "0_edge_609_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "151c624d368e4ca9b262e26421228101", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_16_newN_0", "0_edge_405_newN_1", "0_edge_482_newN_0", "0_edge_446_newN_1", "86d651b81a7c41c4a78b902b43fac9d0", "9bd6013e7ccd46c28789c54605a56151", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_112_newN_1", "0_edge_469_newN_1", "519643de8cf8414db0d0191bab30f32d", "10a315d020ac47408b86212a7e258279", "0_edge_340_newN_0", "0_edge_127_newN_1", "1a4cc7154b1a4e44b8b41f6f6bb7a235", "a5ccd398f969476da588bf4955c76e8e", "1d6750beee5c4d52aa62ff238cb0896d", "2cd98eed9ae24dec8ca021e761455fc6", "e22e126c54a04ee091d6b18c6cb12440", "0_edge_215_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_483_newN_1", "f5933619d2914bdca7a58a004ec7c3df", "889965f33b0e46938abc58b97fda5aef", "fefbf5f40d364b0fb096d1d93aba4316", "0_edge_152_newN_0", "0_edge_356_newN_0", "0_edge_466_newN_0", "0_edge_189_newN_0", "54507d559ab2427982e8021989d48e50", "cadc13ee1b3e4b04b720062aa5f765fb", "e8f67d7392804d5e9284c74c2a5d926b", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_520_newN_0", "310ded38502647188e97b980b77c2472", "d218377018e14219a034d3bcf992d9a1", "0_edge_343_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_272_newN_1", "38808050304946dfb262966b02c6ae4e", "0_edge_467_newN_1", "4f94dc20bae044b289358e718e8c5b05", "0_edge_88_newN_0", "0_edge_272_newN_0", "0_edge_373_newN_0", "b1e41a74f03a4ceeabd6a6da3dc557b2", "0_edge_409_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "6dbb762da390463f83fc26b02e723259", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "12_edge_486_newN_1", "27d23c2605d24971a697f2404671fa04", "45e5c21ecc32454b9390fca6c7d78316", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_130_newN_0", "ae452693af47490ea50fd1057b04337d", "add7a68256564d1b85b560fb614beedd", "97d4efbf203845a19e094f8f5383d33b", "ea6f8b054a3b493482b183a6e92b9aa7", "fa3b4a397c084131bcdd2e6954dab4e5", "81829ab350054bf297a7ebbb1eb4fcee", "0_edge_409_newN_0", "6bd6fde111574af289492ba17859be83", "8d3e229a4b574c5d9cb86d2099f49d86", "673c93ec5cfd45efb87f064bd4723f8d", "7a42af4caa814affbce3c5325c0eb181", "d1174dbd13454385b8a23cb15725b9a0", "372d9c5a8d394815a470573708b4f8cd", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_344_newN_1", "40094a9ad3934b5cb69633e07e0bd6ab", "5713992a192a40a1a32c11a12873791d", "bd0a6c4865d74589a65cedb040ffcf00", "6bd0017610ff445698c3aad76b4f9e12", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_313_newN_0", "0_edge_46_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "51d499bdd9794c669f6e8eeb4ab54052", "74b4a5ebdda245d3b9d2c39696ee2e42", "be542a5895594a1d98592023855f3a30", "0_edge_560_newN_1", "248dcb819089462a98fd16c5d7676fd7", "0_edge_289_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_447_newN_1", "0_edge_384_newN_0", "0_edge_483_newN_0", "0_edge_133_newN_0", "ee92ff66de3d44e9bc50bae691e83d92", "8646134295d2446ba7e27db2fd6da710", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_88_newN_1", "0_edge_347_newN_1", "0_edge_383_newN_2", "90ffb16e607e495b9c230de85201dac7", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_435_newN_1", "0_edge_347_newN_2", "b0a3ea6e7efb429eab0d0ede3174f906", "31eced24029c4dacad2bba2b1a2b7af9", "bf3aacc37c684ab4b66b732557d1c453", "0_edge_244_newN_0", "0_edge_191_newN_0", "0_edge_476_newN_0", "0_edge_112_newN_0", "201e139a7dba42d494a8290754252134", "701006439c3f44239c348b0b92833ca3", "ebf438da4aff44d595b414b9ccd023ac", "c8ce61375bc8403691ec503de5401235", "09fa27f2739d4b849d2cf604a6319170", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_355_newN_0", "a2131c9b8e674c3db73821fb924f1644", "0_edge_469_newN_0", "e91955faab2b4a60ac33f48771b21c54", "17cfb9ce044443479e0a2a89925316a5", "fd1c630635a94f78878d5b13a63274bf" ] } ], "PX4nDJXEHrG.glb_picture": [ { "position": [ -11.7184, -1.5383, -2.77175 ], "radius": null, "object_id": 127, "object_name": "0_7_127", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "4ae7d442d7504317a44d3b939be2cacc", "observable_viewpoint_ids": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "position": [ -21.8229, -2.74482, -2.49837 ], "radius": null, "object_id": 107, "object_name": "0_6_107", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_357_newN_0", "observable_viewpoint_ids": [ "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", "7155aa5a514a444a858781ce73d1746d" ] }, { "position": [ -8.81653, -0.75694, -2.724 ], "radius": null, "object_id": 148, "object_name": "1_47_148", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "a31cd1ae58174529a0f6ef897bccdaf6", "observable_viewpoint_ids": [ "a31cd1ae58174529a0f6ef897bccdaf6", "4ae7d442d7504317a44d3b939be2cacc", "2a89fadea8ad4717ac04d2f27c48b8ce" ] }, { "position": [ -4.95969, 4.49936, -1.38949 ], "radius": null, "object_id": 161, "object_name": "2_9_161", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "673c93ec5cfd45efb87f064bd4723f8d", "observable_viewpoint_ids": [ "673c93ec5cfd45efb87f064bd4723f8d" ] }, { "position": [ -11.5331, -0.26649, -10.3771 ], "radius": null, "object_id": 235, "object_name": "0_3_235", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "observable_viewpoint_ids": [ "cadc13ee1b3e4b04b720062aa5f765fb", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "position": [ -8.23414, -0.16969, -10.3991 ], "radius": null, "object_id": 238, "object_name": "1_12_238", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_356_newN_0", "observable_viewpoint_ids": [ "0_edge_355_newN_0", "0_edge_356_newN_0", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0" ] }, { "position": [ -3.93524, 1.4474, -4.95168 ], "radius": null, "object_id": 311, "object_name": "1_14_311", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_383_newN_2", "observable_viewpoint_ids": [ "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "position": [ -15.3082, 1.06466, -9.28615 ], "radius": null, "object_id": 312, "object_name": "1_14_312", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "e91fd405eae74dcb93ab7036937b1c60", "observable_viewpoint_ids": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60" ] }, { "position": [ -17.7505, 1.30159, -4.98144 ], "radius": null, "object_id": 315, "object_name": "1_14_315", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_534_newN_0", "observable_viewpoint_ids": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0" ] }, { "position": [ -15.5634, 1.48385, -4.98421 ], "radius": null, "object_id": 316, "object_name": "1_14_316", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "7a381be117474e159e339b7bcce0baf3", "observable_viewpoint_ids": [ "a4e473fa0bca4c69b866e03b222975e1" ] }, { "position": [ -4.39757, 1.45541, -4.7071 ], "radius": null, "object_id": 364, "object_name": "1_17_364", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "5a63b57ef203489e9536ab9c3694f3e6", "observable_viewpoint_ids": [ "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_509_newN_1", "2ba3d353cffb46eda191ea81569608f7" ] }, { "position": [ 0.68925, 1.44278, 0.31612 ], "radius": null, "object_id": 366, "object_name": "1_17_366", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "c4b31a14960b43c0b4b17320ce76acd1", "observable_viewpoint_ids": [ "35538596d1564408a4d3ec39541feead", "c4b31a14960b43c0b4b17320ce76acd1" ] }, { "position": [ -3.34383, 0.92075, -4.62553 ], "radius": null, "object_id": 378, "object_name": "1_17_378", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_509_newN_1", "observable_viewpoint_ids": [ "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_509_newN_1" ] }, { "position": [ -9.82129, 1.46543, 5.03949 ], "radius": null, "object_id": 426, "object_name": "1_19_426", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "fd1c630635a94f78878d5b13a63274bf", "observable_viewpoint_ids": [ "fd1c630635a94f78878d5b13a63274bf" ] }, { "position": [ -18.9561, 1.04223, 1.24955 ], "radius": null, "object_id": 530, "object_name": "1_24_530", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_344_newN_2", "observable_viewpoint_ids": [ "0_edge_344_newN_2" ] }, { "position": [ -21.9698, 1.69196, -2.72561 ], "radius": null, "object_id": 574, "object_name": "1_26_574", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "ebfb6f0280f145ea9c72600d76997c78", "observable_viewpoint_ids": [ "ebfb6f0280f145ea9c72600d76997c78", "0_edge_245_newN_1", "0_edge_515_newN_0", "f07aeb211ee441e5ae1845889055195d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "position": [ -6.98926, 1.38115, -3.72138 ], "radius": null, "object_id": 611, "object_name": "1_29_611", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "observable_viewpoint_ids": [ "5a63b57ef203489e9536ab9c3694f3e6", "2ba3d353cffb46eda191ea81569608f7", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ] }, { "position": [ -9.60917, 1.48821, -2.43193 ], "radius": null, "object_id": 624, "object_name": "1_29_624", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "f115d708bfd944c7a6bff880581d79f7", "observable_viewpoint_ids": [ "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791" ] }, { "position": [ -12.0689, 1.36187, -4.86131 ], "radius": null, "object_id": 625, "object_name": "1_29_625", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "a0ed01562b764da7a7bc5f5670d9a463", "observable_viewpoint_ids": [ "8c874344710140e681d78c046d471afc", "0_edge_57_newN_0", "0_edge_169_newN_0", "3229309326224f1b93f98c1ed36594da", "0_edge_476_newN_1", "eda4b648d33d436aa09516400af0de9b", "e62bb5ca23724c1aa78e6f3667d8e3f3", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_153_newN_1", "a0ed01562b764da7a7bc5f5670d9a463" ] }, { "position": [ -9.42727, 1.27826, 0.98156 ], "radius": null, "object_id": 631, "object_name": "1_29_631", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "ee987ba0e8ee44c1a95ff0f958f31791", "observable_viewpoint_ids": [ "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791" ] }, { "position": [ -5.61088, 1.48783, -1.04467 ], "radius": null, "object_id": 641, "object_name": "1_29_641", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "observable_viewpoint_ids": [ "24dbd843e0fe400baa0228c00158bb29" ] }, { "position": [ -18.9219, 3.97467, -8.62828 ], "radius": null, "object_id": 742, "object_name": "2_34_742", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "observable_viewpoint_ids": [ "6e8e41636dc84e94af80d009663e7c75" ] }, { "position": [ -15.9201, 4.31181, 0.97229 ], "radius": null, "object_id": 784, "object_name": "2_36_784", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "c35ee12417344d66b004d046df9842de", "observable_viewpoint_ids": [ "c35ee12417344d66b004d046df9842de" ] }, { "position": [ -9.99617, 4.11903, -0.88611 ], "radius": null, "object_id": 806, "object_name": "2_37_806", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_405_newN_0", "observable_viewpoint_ids": [ "0_edge_405_newN_0", "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644" ] }, { "position": [ -3.68432, 3.93911, -4.45667 ], "radius": null, "object_id": 888, "object_name": "2_40_888", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "00e65e341f5843d385964e17103e6ae3", "observable_viewpoint_ids": [ "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "8646134295d2446ba7e27db2fd6da710" ] }, { "position": [ 0.16076, 3.94923, -2.69649 ], "radius": null, "object_id": 911, "object_name": "2_40_911", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "observable_viewpoint_ids": [ "0_edge_16_newN_0", "201e139a7dba42d494a8290754252134", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "position": [ 0.07537, 3.89239, -2.9133 ], "radius": null, "object_id": 918, "object_name": "2_40_918", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "observable_viewpoint_ids": [ "0_edge_16_newN_0", "201e139a7dba42d494a8290754252134", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "position": [ 0.50964, 3.95207, -0.74855 ], "radius": null, "object_id": 933, "object_name": "2_40_933", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "observable_viewpoint_ids": [ "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab" ] }, { "position": [ -13.2615, 3.93253, -15.5367 ], "radius": null, "object_id": 970, "object_name": "2_42_970", "object_category": "picture", "room_id": null, "room_name": null, "viewpoint_id": "fa3b4a397c084131bcdd2e6954dab4e5", "observable_viewpoint_ids": [ "fa3b4a397c084131bcdd2e6954dab4e5" ] }, { "all_observation_viewpoint_ids": [ "0_edge_405_newN_0", "2a89fadea8ad4717ac04d2f27c48b8ce", "8646134295d2446ba7e27db2fd6da710", "0_edge_169_newN_0", "3229309326224f1b93f98c1ed36594da", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "721eb57eb6c14bdd80a31060a0365ef8", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_383_newN_2", "ea6f8b054a3b493482b183a6e92b9aa7", "c4b31a14960b43c0b4b17320ce76acd1", "e91fd405eae74dcb93ab7036937b1c60", "3bb211c9aabb496c8c5474f242e71a4f", "889965f33b0e46938abc58b97fda5aef", "fa3b4a397c084131bcdd2e6954dab4e5", "dec940911e0a44e7b51b8fa218fb3550", "8c874344710140e681d78c046d471afc", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_245_newN_1", "fefbf5f40d364b0fb096d1d93aba4316", "0_edge_356_newN_0", "0_edge_534_newN_0", "673c93ec5cfd45efb87f064bd4723f8d", "cadc13ee1b3e4b04b720062aa5f765fb", "34276b7c9d6e491885f36dd1d286e477", "0_edge_244_newN_0", "4ae7d442d7504317a44d3b939be2cacc", "7155aa5a514a444a858781ce73d1746d", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_0", "f07aeb211ee441e5ae1845889055195d", "a31cd1ae58174529a0f6ef897bccdaf6", "d1174dbd13454385b8a23cb15725b9a0", "6e8e41636dc84e94af80d009663e7c75", "201e139a7dba42d494a8290754252134", "0_edge_344_newN_2", "24dbd843e0fe400baa0228c00158bb29", "0_edge_476_newN_1", "0_edge_515_newN_0", "40094a9ad3934b5cb69633e07e0bd6ab", "bd0a6c4865d74589a65cedb040ffcf00", "eda4b648d33d436aa09516400af0de9b", "fd1c630635a94f78878d5b13a63274bf", "0_edge_16_newN_0", "701006439c3f44239c348b0b92833ca3", "747202cfe7d7453fa924b3756a75b4fb", "ebf438da4aff44d595b414b9ccd023ac", "09fa27f2739d4b849d2cf604a6319170", "0_edge_153_newN_1", "a0ed01562b764da7a7bc5f5670d9a463", "ebfb6f0280f145ea9c72600d76997c78", "0_edge_355_newN_0", "a2131c9b8e674c3db73821fb924f1644", "0_edge_57_newN_0", "2ba3d353cffb46eda191ea81569608f7", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_509_newN_1", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "e62bb5ca23724c1aa78e6f3667d8e3f3", "0_edge_357_newN_0", "35538596d1564408a4d3ec39541feead", "c35ee12417344d66b004d046df9842de" ] } ], "PX4nDJXEHrG.glb_gym_equipment": [ { "position": [ -4.26723, -2.42345, -7.95072 ], "radius": null, "object_id": 195, "object_name": "0_11_195", "object_category": "gym_equipment", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_384_newN_1", "observable_viewpoint_ids": [ "f40e599480664537833ee44fea373731", "0_edge_385_newN_0", "0_edge_272_newN_0", "0_edge_384_newN_0", "0_edge_384_newN_1", "248dcb819089462a98fd16c5d7676fd7", "0_edge_482_newN_0", "0_edge_272_newN_1", "af8dfeff482f4fa1b70bb1f470791f6f", "372d9c5a8d394815a470573708b4f8cd" ] }, { "all_observation_viewpoint_ids": [ "f40e599480664537833ee44fea373731", "0_edge_272_newN_0", "0_edge_385_newN_0", "0_edge_384_newN_1", "248dcb819089462a98fd16c5d7676fd7", "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_384_newN_0", "372d9c5a8d394815a470573708b4f8cd" ] } ], "PX4nDJXEHrG.glb_chest_of_drawers": [ { "position": [ -3.28622, 0.36102, -4.41027 ], "radius": null, "object_id": 347, "object_name": "1_17_347", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_509_newN_1", "observable_viewpoint_ids": [ "d837361a192a46f796fa084b58952201", "0_edge_509_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "2ba3d353cffb46eda191ea81569608f7" ] }, { "position": [ -10.2314, -0.39562, -9.61652 ], "radius": null, "object_id": 211, "object_name": "1_12_211", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "eaa924cd93794010a866d09389edd172", "observable_viewpoint_ids": [ "0_edge_355_newN_0", "d218377018e14219a034d3bcf992d9a1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_356_newN_0", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0" ] }, { "position": [ 0.222, 0.44953, -0.61185 ], "radius": null, "object_id": 354, "object_name": "1_17_354", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "35538596d1564408a4d3ec39541feead", "observable_viewpoint_ids": [ "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "c4b31a14960b43c0b4b17320ce76acd1" ] }, { "position": [ -21.8096, 0.44, -1.60091 ], "radius": null, "object_id": 577, "object_name": "0_6_577", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "3bb211c9aabb496c8c5474f242e71a4f", "observable_viewpoint_ids": [ "814d798917b14527a61e1135e74d6bba", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "position": [ -14.9091, 3.54968, -0.69083 ], "radius": null, "object_id": 774, "object_name": "2_36_774", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_220_newN_1", "observable_viewpoint_ids": [ "0_edge_443_newN_0", "0_edge_220_newN_0", "0_edge_220_newN_1", "ba3d3163aa4a4211a0bda0b7adf07b60", "c35ee12417344d66b004d046df9842de" ] }, { "position": [ -21.8098, 0.39408, -3.84371 ], "radius": null, "object_id": 580, "object_name": "1_26_580", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "ebfb6f0280f145ea9c72600d76997c78", "observable_viewpoint_ids": [ "ebfb6f0280f145ea9c72600d76997c78", "f07aeb211ee441e5ae1845889055195d" ] }, { "position": [ -10.669, 2.79992, -9.94965 ], "radius": null, "object_id": 969, "object_name": "1_12_969", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "ba9458d357074f62bee47dd2e5556854", "observable_viewpoint_ids": [ "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "0_edge_127_newN_1" ] }, { "position": [ -16.8487, 3.51056, 0.61672 ], "radius": null, "object_id": 773, "object_name": "1_24_773", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "c35ee12417344d66b004d046df9842de", "observable_viewpoint_ids": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ] }, { "position": [ -19.2707, 3.48171, 0.64582 ], "radius": null, "object_id": 771, "object_name": "1_28_771", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "observable_viewpoint_ids": [ "31e2ead1db884aa0974a21674f83b488" ] }, { "position": [ 0.27205, 3.45869, -2.90433 ], "radius": null, "object_id": 917, "object_name": "1_17_917", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "observable_viewpoint_ids": [ "1d262441697444b0908ea10b5ce60a59", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "position": [ 0.28264, 3.43102, -0.66648 ], "radius": null, "object_id": 914, "object_name": "1_17_914", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "observable_viewpoint_ids": [ "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab" ] }, { "position": [ -7.90141, 2.91734, -9.77986 ], "radius": null, "object_id": 957, "object_name": "1_12_957", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "6bd0017610ff445698c3aad76b4f9e12", "observable_viewpoint_ids": [ "0_edge_112_newN_1", "4f94dc20bae044b289358e718e8c5b05", "6bd0017610ff445698c3aad76b4f9e12", "ef98e16224ae4151a0f5e69ec03916f7" ] }, { "position": [ -7.99609, 3.87232, -9.9967 ], "radius": null, "object_id": 981, "object_name": "2_42_981", "object_category": "chest_of_drawers", "room_id": null, "room_name": null, "viewpoint_id": "6bd0017610ff445698c3aad76b4f9e12", "observable_viewpoint_ids": [ "0_edge_112_newN_1" ] }, { "all_observation_viewpoint_ids": [ "1d262441697444b0908ea10b5ce60a59", "0_edge_220_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "814d798917b14527a61e1135e74d6bba", "c4b31a14960b43c0b4b17320ce76acd1", "3bb211c9aabb496c8c5474f242e71a4f", "0_edge_443_newN_0", "0_edge_220_newN_1", "0_edge_356_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "f07aeb211ee441e5ae1845889055195d", "0_edge_576_newN_0", "e8f67d7392804d5e9284c74c2a5d926b", "d1174dbd13454385b8a23cb15725b9a0", "201e139a7dba42d494a8290754252134", "ba3d3163aa4a4211a0bda0b7adf07b60", "40094a9ad3934b5cb69633e07e0bd6ab", "d218377018e14219a034d3bcf992d9a1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_221_newN_1", "0_edge_16_newN_0", "701006439c3f44239c348b0b92833ca3", "6bd0017610ff445698c3aad76b4f9e12", "d837361a192a46f796fa084b58952201", "ebfb6f0280f145ea9c72600d76997c78", "4f94dc20bae044b289358e718e8c5b05", "31e2ead1db884aa0974a21674f83b488", "0_edge_355_newN_0", "ba9458d357074f62bee47dd2e5556854", "2ba3d353cffb46eda191ea81569608f7", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_112_newN_1", "0_edge_509_newN_1", "35538596d1564408a4d3ec39541feead", "c35ee12417344d66b004d046df9842de", "0_edge_127_newN_1" ] } ], "PX4nDJXEHrG.glb_stool": [ { "position": [ -10.2507, 0.44498, -8.06069 ], "radius": null, "object_id": 299, "object_name": "0_5_299", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "eaa924cd93794010a866d09389edd172", "observable_viewpoint_ids": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ] }, { "position": [ -10.8793, 0.48143, -8.0643 ], "radius": null, "object_id": 298, "object_name": "0_5_298", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "observable_viewpoint_ids": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ] }, { "position": [ -15.1597, 0.35601, -7.03365 ], "radius": null, "object_id": 306, "object_name": "0_5_306", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "observable_viewpoint_ids": [ "8c874344710140e681d78c046d471afc", "0_edge_152_newN_0", "d218377018e14219a034d3bcf992d9a1", "a4e473fa0bca4c69b866e03b222975e1", "e91fd405eae74dcb93ab7036937b1c60" ] }, { "position": [ -11.442, 0.47476, -7.99821 ], "radius": null, "object_id": 296, "object_name": "0_5_296", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "observable_viewpoint_ids": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ] }, { "position": [ -15.5318, 0.24663, 4.68436 ], "radius": null, "object_id": 500, "object_name": "1_23_500", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_189_newN_0", "observable_viewpoint_ids": [ "0_edge_347_newN_2", "0_edge_560_newN_1", "0_edge_189_newN_0", "0_edge_347_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "0_edge_347_newN_1", "90ffb16e607e495b9c230de85201dac7" ] }, { "position": [ -16.0282, 0.33988, -6.72027 ], "radius": null, "object_id": 305, "object_name": "0_5_305", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "observable_viewpoint_ids": [ "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0" ] }, { "position": [ -13.9141, 0.30699, 5.23714 ], "radius": null, "object_id": 477, "object_name": "1_23_477", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_347_newN_2", "observable_viewpoint_ids": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "0_edge_347_newN_1", "90ffb16e607e495b9c230de85201dac7" ] }, { "position": [ -16.6241, 0.32168, -6.70633 ], "radius": null, "object_id": 302, "object_name": "0_5_302", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_534_newN_0", "observable_viewpoint_ids": [ "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0" ] }, { "position": [ -12.2098, 0.46434, -7.97212 ], "radius": null, "object_id": 295, "object_name": "0_5_295", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "observable_viewpoint_ids": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1" ] }, { "position": [ -17.3538, 0.27911, -6.71896 ], "radius": null, "object_id": 297, "object_name": "0_5_297", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_534_newN_0", "observable_viewpoint_ids": [ "889965f33b0e46938abc58b97fda5aef", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1" ] }, { "position": [ -9.93371, -0.3872, -14.4327 ], "radius": null, "object_id": 222, "object_name": "0_3_222", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_469_newN_1", "observable_viewpoint_ids": [ "0_edge_333_newN_0", "0_edge_469_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_466_newN_0", "0_edge_469_newN_1", "a406b9208ade4d0d859368e1ec14564f", "0_edge_340_newN_0", "0_edge_609_newN_0", "173a50fdd7d14bbb9475f84357ecae45" ] }, { "position": [ -15.4536, 3.23685, -1.14365 ], "radius": null, "object_id": 789, "object_name": "2_36_789", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_220_newN_1", "observable_viewpoint_ids": [ "0_edge_443_newN_0", "0_edge_220_newN_0", "0_edge_220_newN_1", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de" ] }, { "position": [ -15.2527, 3.23754, -0.54607 ], "radius": null, "object_id": 788, "object_name": "1_24_788", "object_category": "stool", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_220_newN_1", "observable_viewpoint_ids": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_0" ] }, { "all_observation_viewpoint_ids": [ "0_edge_220_newN_0", "8702672b13ef44ab85da7062d5647237", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_347_newN_0", "eaa924cd93794010a866d09389edd172", "0_edge_347_newN_1", "0_edge_609_newN_0", "0_edge_483_newN_1", "173a50fdd7d14bbb9475f84357ecae45", "90ffb16e607e495b9c230de85201dac7", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "0_edge_333_newN_0", "0_edge_443_newN_0", "8c874344710140e681d78c046d471afc", "0_edge_347_newN_2", "0_edge_220_newN_1", "0_edge_466_newN_0", "0_edge_152_newN_0", "0_edge_534_newN_0", "0_edge_189_newN_0", "cadc13ee1b3e4b04b720062aa5f765fb", "a406b9208ade4d0d859368e1ec14564f", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "d218377018e14219a034d3bcf992d9a1", "0_edge_221_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_469_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_560_newN_1", "0_edge_469_newN_1", "0_edge_340_newN_0", "c35ee12417344d66b004d046df9842de" ] } ], "PX4nDJXEHrG.glb_plant": [ { "position": [ -9.27659, 4.06986, -0.85106 ], "radius": null, "object_id": 818, "object_name": "2_37_818", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "a2131c9b8e674c3db73821fb924f1644", "observable_viewpoint_ids": [ "a2131c9b8e674c3db73821fb924f1644" ] }, { "position": [ -15.6212, 4.26265, -5.23351 ], "radius": null, "object_id": 725, "object_name": "2_34_725", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "6f73ed74234145baac0b9b2854a95610", "observable_viewpoint_ids": [ "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f" ] }, { "position": [ -13.0114, 3.22387, -12.5526 ], "radius": null, "object_id": 959, "object_name": "1_12_959", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "54507d559ab2427982e8021989d48e50", "observable_viewpoint_ids": [ "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "position": [ -9.1444, 3.08017, -12.9521 ], "radius": null, "object_id": 971, "object_name": "1_12_971", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_112_newN_0", "observable_viewpoint_ids": [ "0_edge_112_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_1", "0_edge_130_newN_0", "0_edge_115_newN_0" ] }, { "position": [ -6.70309, 1.56122, 0.34137 ], "radius": null, "object_id": 634, "object_name": "1_29_634", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "observable_viewpoint_ids": [ "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "b86db2322dcf44538d16e38cc789df6c" ] }, { "position": [ -9.50009, 0.99512, 2.05253 ], "radius": null, "object_id": 432, "object_name": "1_20_432", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "add7a68256564d1b85b560fb614beedd", "observable_viewpoint_ids": [ "add7a68256564d1b85b560fb614beedd", "9bd6013e7ccd46c28789c54605a56151" ] }, { "position": [ -9.57507, 1.04554, 2.55436 ], "radius": null, "object_id": 448, "object_name": "1_20_448", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "add7a68256564d1b85b560fb614beedd", "observable_viewpoint_ids": [ "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906" ] }, { "position": [ -18.6252, 1.01424, -8.97464 ], "radius": null, "object_id": 291, "object_name": "1_14_291", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_483_newN_0", "observable_viewpoint_ids": [ "889965f33b0e46938abc58b97fda5aef", "0_edge_483_newN_0", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "position": [ -15.3467, 0.75073, 6.3414 ], "radius": null, "object_id": 494, "object_name": "1_23_494", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_347_newN_1", "observable_viewpoint_ids": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "104c429382034f88a37f95c5888e3557", "0_edge_561_newN_0", "0_edge_560_newN_1", "0_edge_347_newN_1" ] }, { "position": [ -17.1195, 0.94478, 5.1674 ], "radius": null, "object_id": 491, "object_name": "1_23_491", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_191_newN_0", "observable_viewpoint_ids": [ "0_edge_347_newN_1", "0_edge_560_newN_1", "0_edge_347_newN_0", "0_edge_191_newN_0" ] }, { "position": [ -9.09418, 1.7326, 7.72787 ], "radius": null, "object_id": 404, "object_name": "1_19_404", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "observable_viewpoint_ids": [ "d6316b40b9c8413386ef184e5a5382ab", "a5ccd398f969476da588bf4955c76e8e", "19ae938a01884f31bb5b758b5a8feb83", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf" ] }, { "position": [ -18.7274, 1.36768, 3.66548 ], "radius": null, "object_id": 508, "object_name": "1_24_508", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "ee92ff66de3d44e9bc50bae691e83d92", "observable_viewpoint_ids": [ "ee92ff66de3d44e9bc50bae691e83d92", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "position": [ -8.35325, 1.01262, 6.29504 ], "radius": null, "object_id": 411, "object_name": "1_19_411", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "10a315d020ac47408b86212a7e258279", "observable_viewpoint_ids": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "a5ccd398f969476da588bf4955c76e8e", "10a315d020ac47408b86212a7e258279" ] }, { "position": [ -3.02232, 0.50286, -5.28445 ], "radius": null, "object_id": 293, "object_name": "0_11_293", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_383_newN_2", "observable_viewpoint_ids": [ "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "position": [ -9.1901, 0.3187, 7.898 ], "radius": null, "object_id": 415, "object_name": "1_19_415", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "observable_viewpoint_ids": [ "a5ccd398f969476da588bf4955c76e8e", "10a315d020ac47408b86212a7e258279" ] }, { "position": [ -6.19864, 0.91843, -14.615 ], "radius": null, "object_id": 227, "object_name": "1_12_227", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_333_newN_1", "observable_viewpoint_ids": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "0_edge_334_newN_1" ] }, { "position": [ -10.164, -0.05202, -12.7768 ], "radius": null, "object_id": 228, "object_name": "1_12_228", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_469_newN_0", "observable_viewpoint_ids": [ "0_edge_585_newN_0", "0_edge_469_newN_0", "0_edge_609_newN_1", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ] }, { "position": [ -9.54134, -1.02407, 12.2497 ], "radius": null, "object_id": 469, "object_name": "1_22_469", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "ab3d95c62b3748c7b803dab2f7421dd7", "observable_viewpoint_ids": [ "ab3d95c62b3748c7b803dab2f7421dd7", "d743238d113140e1990ef22371852a1b" ] }, { "position": [ -13.4127, -1.04699, 12.384 ], "radius": null, "object_id": 470, "object_name": "1_22_470", "object_category": "plant", "room_id": null, "room_name": null, "viewpoint_id": "ab3d95c62b3748c7b803dab2f7421dd7", "observable_viewpoint_ids": [ "b12c9c0d102f47fa8efa97034579c721", "d743238d113140e1990ef22371852a1b" ] }, { "all_observation_viewpoint_ids": [ "0_edge_133_newN_0", "27d23c2605d24971a697f2404671fa04", "ee92ff66de3d44e9bc50bae691e83d92", "a5ccd398f969476da588bf4955c76e8e", "8702672b13ef44ab85da7062d5647237", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_561_newN_0", "19ae938a01884f31bb5b758b5a8feb83", "45e5c21ecc32454b9390fca6c7d78316", "0_edge_130_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_347_newN_0", "0_edge_347_newN_1", "add7a68256564d1b85b560fb614beedd", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_383_newN_2", "0_edge_609_newN_0", "889965f33b0e46938abc58b97fda5aef", "0_edge_333_newN_0", "b12c9c0d102f47fa8efa97034579c721", "0_edge_333_newN_1", "0_edge_347_newN_2", "ab3d95c62b3748c7b803dab2f7421dd7", "ee987ba0e8ee44c1a95ff0f958f31791", "104c429382034f88a37f95c5888e3557", "b0a3ea6e7efb429eab0d0ede3174f906", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "6f73ed74234145baac0b9b2854a95610", "dfb6d728749e4dbb9116902a8f2dd6eb", "0_edge_191_newN_0", "e8f67d7392804d5e9284c74c2a5d926b", "b86db2322dcf44538d16e38cc789df6c", "0_edge_585_newN_0", "c662afaab01a4c338d739c7600478db2", "0_edge_112_newN_0", "d743238d113140e1990ef22371852a1b", "24dbd843e0fe400baa0228c00158bb29", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "5ebe5e4ed7384814bde7bdf5aad27e8f", "d6316b40b9c8413386ef184e5a5382ab", "9bd6013e7ccd46c28789c54605a56151", "a2131c9b8e674c3db73821fb924f1644", "0_edge_469_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "55ecd451adf344d88152d33d56d88413", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_1", "0_edge_560_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_334_newN_1", "0_edge_469_newN_1", "10a315d020ac47408b86212a7e258279", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_340_newN_0", "fd1c630635a94f78878d5b13a63274bf", "0_edge_483_newN_0", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] } ], "PX4nDJXEHrG.glb_counter": [ { "position": [ -10.0282, 0.55332, -7.53511 ], "radius": null, "object_id": 292, "object_name": "0_5_292", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "1495db5760cf415299116892de94695a", "observable_viewpoint_ids": [ "1495db5760cf415299116892de94695a", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "0_edge_521_newN_0", "cfb40a8a73414375a43798a7133d28c4", "3d6cd6d157704b8abe96332301d16436", "0_edge_152_newN_0", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_355_newN_1", "eaa924cd93794010a866d09389edd172", "0_edge_565_newN_2", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_153_newN_1", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "position": [ -10.5085, 0.59772, -5.39319 ], "radius": null, "object_id": 289, "object_name": "0_5_289", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "observable_viewpoint_ids": [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "cfb40a8a73414375a43798a7133d28c4", "0_edge_153_newN_1", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "position": [ -6.1379, 0.62029, 1.48874 ], "radius": null, "object_id": 697, "object_name": "1_32_697", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "bfb78765ec3e4eb7aebdea9e7c2bf047", "observable_viewpoint_ids": [ "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2" ] }, { "position": [ -16.618, 0.93223, -2.57474 ], "radius": null, "object_id": 552, "object_name": "1_25_552", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "bc988e98c7e44f129dcc49976264f7b1", "observable_viewpoint_ids": [ "bc988e98c7e44f129dcc49976264f7b1" ] }, { "position": [ -15.7013, 3.60572, -5.33895 ], "radius": null, "object_id": 729, "object_name": "1_14_729", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "6f73ed74234145baac0b9b2854a95610", "observable_viewpoint_ids": [ "53652351502d4b5dba01ad8f23be3443", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_262_newN_1", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f" ] }, { "position": [ -7.37397, 3.97423, -5.76927 ], "radius": null, "object_id": 828, "object_name": "2_38_828", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "23d3a1b1dc134acc8ffa787e2ee558ed", "observable_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca" ] }, { "position": [ -7.31759, 4.04073, -7.4411 ], "radius": null, "object_id": 851, "object_name": "2_38_851", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "observable_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed" ] }, { "position": [ -6.65516, 4.08271, -8.75757 ], "radius": null, "object_id": 829, "object_name": "2_38_829", "object_category": "counter", "room_id": null, "room_name": null, "viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "observable_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b" ] }, { "all_observation_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b", "bfb78765ec3e4eb7aebdea9e7c2bf047", "cfb40a8a73414375a43798a7133d28c4", "86f4a6bece3b4edc8e71cc0d03cef2ca", "0_edge_355_newN_1", "23d3a1b1dc134acc8ffa787e2ee558ed", "eaa924cd93794010a866d09389edd172", "0_edge_521_newN_0", "0_edge_565_newN_2", "20352d61b4c14e2ab410046ab72d0849", "8c874344710140e681d78c046d471afc", "0_edge_152_newN_0", "cadc13ee1b3e4b04b720062aa5f765fb", "6f73ed74234145baac0b9b2854a95610", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "1495db5760cf415299116892de94695a", "c662afaab01a4c338d739c7600478db2", "d218377018e14219a034d3bcf992d9a1", "53652351502d4b5dba01ad8f23be3443", "0_edge_153_newN_1", "5ebe5e4ed7384814bde7bdf5aad27e8f", "0_edge_355_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "bc988e98c7e44f129dcc49976264f7b1", "3d6cd6d157704b8abe96332301d16436", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_262_newN_1" ] } ], "PX4nDJXEHrG.glb_seating": [ { "position": [ -1.82938, 0.307, -1.89683 ], "radius": null, "object_id": 352, "object_name": "1_17_352", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_65_newN_0", "observable_viewpoint_ids": [ "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_63_newN_0", "0_edge_65_newN_0", "0_edge_509_newN_1", "d837361a192a46f796fa084b58952201", "0_edge_576_newN_0" ] }, { "position": [ -4.49773, 0.30714, -7.08433 ], "radius": null, "object_id": 300, "object_name": "0_11_300", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_521_newN_1", "observable_viewpoint_ids": [ "0_edge_520_newN_0", "0_edge_521_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2", "0_edge_521_newN_0", "6a57a23befa34262b84aa219156f1432", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ] }, { "position": [ -10.043, 0.19837, 2.70233 ], "radius": null, "object_id": 455, "object_name": "1_20_455", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "add7a68256564d1b85b560fb614beedd", "observable_viewpoint_ids": [ "9bd6013e7ccd46c28789c54605a56151", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "e22e126c54a04ee091d6b18c6cb12440", "add7a68256564d1b85b560fb614beedd", "fd1c630635a94f78878d5b13a63274bf" ] }, { "position": [ -16.6104, 0.3198, -5.32873 ], "radius": null, "object_id": 304, "object_name": "0_5_304", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_534_newN_0", "observable_viewpoint_ids": [ "ebf438da4aff44d595b414b9ccd023ac", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0" ] }, { "position": [ -9.86842, 3.28771, -6.68106 ], "radius": null, "object_id": 943, "object_name": "1_14_943", "object_category": "seating", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_215_newN_0", "observable_viewpoint_ids": [ "ee51e32e785e4649ae13c9152ec68893", "151c624d368e4ca9b262e26421228101", "6dbb762da390463f83fc26b02e723259", "0_edge_215_newN_0", "6bd0017610ff445698c3aad76b4f9e12", "17cfb9ce044443479e0a2a89925316a5" ] }, { "all_observation_viewpoint_ids": [ "3389b852c9c84bbeb9855d46d3637a1d", "ee51e32e785e4649ae13c9152ec68893", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "a4e473fa0bca4c69b866e03b222975e1", "e22e126c54a04ee091d6b18c6cb12440", "0_edge_215_newN_0", "0_edge_521_newN_0", "6a57a23befa34262b84aa219156f1432", "add7a68256564d1b85b560fb614beedd", "0_edge_383_newN_2", "b0a3ea6e7efb429eab0d0ede3174f906", "0_edge_521_newN_1", "0_edge_534_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_576_newN_0", "0_edge_520_newN_0", "151c624d368e4ca9b262e26421228101", "6bd0017610ff445698c3aad76b4f9e12", "d837361a192a46f796fa084b58952201", "ebf438da4aff44d595b414b9ccd023ac", "9bd6013e7ccd46c28789c54605a56151", "b1e41a74f03a4ceeabd6a6da3dc557b2", "0_edge_63_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_65_newN_0", "0_edge_509_newN_1", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "fd1c630635a94f78878d5b13a63274bf" ] } ], "PX4nDJXEHrG.glb_sink": [ { "position": [ -8.73009, 0.79813, -7.11613 ], "radius": null, "object_id": 309, "object_name": "1_14_309", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "cfb40a8a73414375a43798a7133d28c4", "observable_viewpoint_ids": [ "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "position": [ -2.80038, 0.64292, 3.62831 ], "radius": null, "object_id": 390, "object_name": "1_18_390", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "23deb5b68d61426cb0cce5578e05cc8c", "observable_viewpoint_ids": [ "b20afa1056624aaca536b2bc6af05de8", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "position": [ -6.1718, 0.90167, 1.47676 ], "radius": null, "object_id": 694, "object_name": "1_32_694", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "bfb78765ec3e4eb7aebdea9e7c2bf047", "observable_viewpoint_ids": [ "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2" ] }, { "position": [ -15.0456, 0.74118, -2.47128 ], "radius": null, "object_id": 554, "object_name": "1_25_554", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "bc988e98c7e44f129dcc49976264f7b1", "observable_viewpoint_ids": [ "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3" ] }, { "position": [ -20.6673, 0.90991, 0.72403 ], "radius": null, "object_id": 600, "object_name": "1_28_600", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "badffebebfcf4e7cb8883d6a0f8fa25d", "observable_viewpoint_ids": [ "814d798917b14527a61e1135e74d6bba", "badffebebfcf4e7cb8883d6a0f8fa25d" ] }, { "position": [ -14.9259, 3.93462, -5.29368 ], "radius": null, "object_id": 741, "object_name": "2_34_741", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "6f73ed74234145baac0b9b2854a95610", "observable_viewpoint_ids": [ "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f" ] }, { "position": [ -16.4674, 3.92828, -5.30348 ], "radius": null, "object_id": 736, "object_name": "2_34_736", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "5ebe5e4ed7384814bde7bdf5aad27e8f", "observable_viewpoint_ids": [ "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f" ] }, { "position": [ -16.4908, 3.92903, -4.59619 ], "radius": null, "object_id": 754, "object_name": "2_35_754", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "observable_viewpoint_ids": [ "a0a8cd07457a4376a550ac35104fed9d" ] }, { "position": [ -4.03845, 3.94876, -7.13911 ], "radius": null, "object_id": 868, "object_name": "2_39_868", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "a0b14b141fcd42ac8c56f66ede5be8b0", "observable_viewpoint_ids": [ "137543cd90ed4a90a10b244b14014cf0", "00e65e341f5843d385964e17103e6ae3", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710" ] }, { "position": [ -20.1564, 3.96059, -3.27339 ], "radius": null, "object_id": 1045, "object_name": "2_46_1045", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "36f960692401420f90d5448db9e22615", "observable_viewpoint_ids": [ "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "position": [ -6.35398, 3.85749, -9.0633 ], "radius": null, "object_id": 850, "object_name": "2_38_850", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "observable_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b" ] }, { "position": [ -7.83471, -2.20486, -3.27108 ], "radius": null, "object_id": 1026, "object_name": "0_45_1026", "object_category": "sink", "room_id": null, "room_name": null, "viewpoint_id": "0952da4444d04fd3a33c406da20d6f8e", "observable_viewpoint_ids": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e" ] }, { "all_observation_viewpoint_ids": [ "aa685f88bd7b46e89ef630e72c72903b", "8646134295d2446ba7e27db2fd6da710", "bfb78765ec3e4eb7aebdea9e7c2bf047", "cfb40a8a73414375a43798a7133d28c4", "7a381be117474e159e339b7bcce0baf3", "b20afa1056624aaca536b2bc6af05de8", "814d798917b14527a61e1135e74d6bba", "23deb5b68d61426cb0cce5578e05cc8c", "badffebebfcf4e7cb8883d6a0f8fa25d", "00e65e341f5843d385964e17103e6ae3", "4ad4f9b025b441aab57a1eba3bd1c2c4", "4280d68aa5de47788b1edb650c6280c7", "a0a8cd07457a4376a550ac35104fed9d", "6f73ed74234145baac0b9b2854a95610", "ca485cbdb9c247a0b7b964a0589c4311", "1495db5760cf415299116892de94695a", "c662afaab01a4c338d739c7600478db2", "a0b14b141fcd42ac8c56f66ede5be8b0", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "5ebe5e4ed7384814bde7bdf5aad27e8f", "137543cd90ed4a90a10b244b14014cf0", "0405db8320e24c3abb2f1e7c3ce52810", "bc988e98c7e44f129dcc49976264f7b1", "36f960692401420f90d5448db9e22615" ] } ], "PX4nDJXEHrG.glb_bathtub": [ { "position": [ -4.74012, 0.41327, 3.90916 ], "radius": null, "object_id": 386, "object_name": "1_18_386", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "23deb5b68d61426cb0cce5578e05cc8c", "observable_viewpoint_ids": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0405db8320e24c3abb2f1e7c3ce52810", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "position": [ -19.5532, 0.29831, 0.28232 ], "radius": null, "object_id": 601, "object_name": "1_28_601", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "0_edge_344_newN_2", "observable_viewpoint_ids": [ "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "position": [ -18.5745, 3.19077, -4.0367 ], "radius": null, "object_id": 1041, "object_name": "1_26_1041", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "4280d68aa5de47788b1edb650c6280c7", "observable_viewpoint_ids": [ "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "position": [ -3.93512, 3.49617, -8.83059 ], "radius": null, "object_id": 869, "object_name": "1_14_869", "object_category": "bathtub", "room_id": null, "room_name": null, "viewpoint_id": "253d678706ed4761b6b6b28df93f075c", "observable_viewpoint_ids": [ "ba9624a97ad74614968e00edc698f4c7", "253d678706ed4761b6b6b28df93f075c", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "d828865aa4df444da9c7c051b87f1272" ] }, { "all_observation_viewpoint_ids": [ "ba9624a97ad74614968e00edc698f4c7", "253d678706ed4761b6b6b28df93f075c", "9a65ec8ec80d41a492cf617c83b15ec6", "0405db8320e24c3abb2f1e7c3ce52810", "137543cd90ed4a90a10b244b14014cf0", "4ad4f9b025b441aab57a1eba3bd1c2c4", "4280d68aa5de47788b1edb650c6280c7", "a0b14b141fcd42ac8c56f66ede5be8b0", "36f960692401420f90d5448db9e22615", "b20afa1056624aaca536b2bc6af05de8", "23deb5b68d61426cb0cce5578e05cc8c", "badffebebfcf4e7cb8883d6a0f8fa25d", "d828865aa4df444da9c7c051b87f1272", "3bb211c9aabb496c8c5474f242e71a4f" ] } ], "PX4nDJXEHrG.glb_toilet": [ { "position": [ -15.1756, 3.41722, -8.77179 ], "radius": null, "object_id": 710, "object_name": "1_14_710", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "42bfe0c4e181472f8439b68667c23e45", "observable_viewpoint_ids": [ "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ] }, { "position": [ -21.6211, 0.35965, 0.62084 ], "radius": null, "object_id": 602, "object_name": "1_28_602", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "814d798917b14527a61e1135e74d6bba", "observable_viewpoint_ids": [ "814d798917b14527a61e1135e74d6bba", "badffebebfcf4e7cb8883d6a0f8fa25d" ] }, { "position": [ -4.99781, 0.37864, 1.74998 ], "radius": null, "object_id": 395, "object_name": "1_18_395", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "bfb78765ec3e4eb7aebdea9e7c2bf047", "observable_viewpoint_ids": [ "bfb78765ec3e4eb7aebdea9e7c2bf047", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "position": [ -2.91186, 3.40071, -5.33781 ], "radius": null, "object_id": 862, "object_name": "1_14_862", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "00e65e341f5843d385964e17103e6ae3", "observable_viewpoint_ids": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ] }, { "position": [ -20.0691, 3.41695, -4.31709 ], "radius": null, "object_id": 1043, "object_name": "1_26_1043", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "4280d68aa5de47788b1edb650c6280c7", "observable_viewpoint_ids": [ "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "position": [ -5.96596, -2.73416, -4.47081 ], "radius": null, "object_id": 1021, "object_name": "0_45_1021", "object_category": "toilet", "room_id": null, "room_name": null, "viewpoint_id": "38808050304946dfb262966b02c6ae4e", "observable_viewpoint_ids": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "all_observation_viewpoint_ids": [ "cf0febb3e6eb495daa0ef1ba776548ac", "6f87bf60f1984f31a2af16a91f502ad9", "0405db8320e24c3abb2f1e7c3ce52810", "8646134295d2446ba7e27db2fd6da710", "bfb78765ec3e4eb7aebdea9e7c2bf047", "4280d68aa5de47788b1edb650c6280c7", "00e65e341f5843d385964e17103e6ae3", "36f960692401420f90d5448db9e22615", "42bfe0c4e181472f8439b68667c23e45", "0_edge_148_newN_0", "814d798917b14527a61e1135e74d6bba", "23deb5b68d61426cb0cce5578e05cc8c", "badffebebfcf4e7cb8883d6a0f8fa25d", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "d828865aa4df444da9c7c051b87f1272" ] } ], "PX4nDJXEHrG.glb_towel": [ { "position": [ -16.3765, 3.60396, -7.72747 ], "radius": null, "object_id": 743, "object_name": "1_14_743", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "6e0c4533325b431db69bee9e850f3d07", "observable_viewpoint_ids": [ "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f" ] }, { "position": [ -20.1828, 0.83451, 0.66456 ], "radius": null, "object_id": 607, "object_name": "1_28_607", "object_category": "towel", "room_id": null, "room_name": null, "viewpoint_id": "badffebebfcf4e7cb8883d6a0f8fa25d", "observable_viewpoint_ids": [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] }, { "all_observation_viewpoint_ids": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_262_newN_1", "5ebe5e4ed7384814bde7bdf5aad27e8f" ] } ] }, { "episode_id": "A2CWA5VQZ6IWMQ:351SEKWQS2K0NWE4UT7ERUCW0M7MD4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.71545, -0.68446, -14.35619 ], "start_rotation": [ 0, 0.56006, 0, -0.82845 ], "object_category": "shower", "info": { "geodesic_distance": 20.04682, "euclidean_distance": 18.99726, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.63394, 0.11554, 3.93286 ] }, "scene_dataset": null, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_333_newN_0", "path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "AONSG5WOC3OX0:3KIBXJ1WD7XW155QZQ8ENBWRFV0KOB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.25352, 0.11554, -5.63623 ], "start_rotation": [ 0, 0.54883, 0, 0.83593 ], "object_category": "shower", "info": { "geodesic_distance": 14.29525, "euclidean_distance": 8.06537, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.52117, 0.11554, -0.42582 ] }, "scene_dataset": null, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "8c874344710140e681d78c046d471afc", "path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", [ "c662afaab01a4c338d739c7600478db2" ], "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A13WYZ8AXD6ODX:3TPZPLC3M2F8Q79KTKTUVPKFEEB3P1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.92299, 0.11554, -0.54478 ], "start_rotation": [ 0, 0.3592, 0, -0.93326 ], "object_category": "towel", "info": { "geodesic_distance": 19.23201, "euclidean_distance": 17.48604, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.52887, 0.11554, -0.35552 ] }, "scene_dataset": null, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_65_newN_0", "path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463" ], "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710" ], "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A19317A3X87NVM:3LRKMWOKB7KDJTF7CTDR3DH1IZZ2ZR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.48868, 3.11554, -2.78322 ], "start_rotation": [ 0, 0.44098, 0, 0.89752 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.24917, "euclidean_distance": 6.78615, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.30037, 3.11554, -2.31552 ] }, "scene_dataset": null, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "5ebe5e4ed7384814bde7bdf5aad27e8f", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "dcbc89b871b54cdd98d8b59b700d44a3", "6dbb762da390463f83fc26b02e723259", "6f73ed74234145baac0b9b2854a95610", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", [ "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1" ], "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3" ], "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A314XJY8V1YL12:3E47SOBEYSZ4MLIZ9IEBFVNXYDAICJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.44736, 0.11554, -3.88453 ], "start_rotation": [ 0, 0.92806, 0, 0.37242 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.08538, "euclidean_distance": 7.46002, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.00457, 0.11554, -3.56645 ] }, "scene_dataset": null, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_57_newN_0", "path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_127_newN_1", "0_edge_112_newN_1", "0_edge_130_newN_0", "6f73ed74234145baac0b9b2854a95610", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "refined_path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", [ "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ] }, { "episode_id": "ACI0C2WU1NABK:33PPUNGG3A8UNDWSRJSS4LP9URXZRL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.64453, 0.11554, -5.76178 ], "start_rotation": [ 0, 0.34501, 0, -0.9386 ], "object_category": "cushion", "info": { "geodesic_distance": 7.95953, "euclidean_distance": 7.09278, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.01231, 0.11554, 1.27397 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "8c874344710140e681d78c046d471afc", "path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3EF8EXOTT3YGUTS7B3ARA0J67VWJ1U", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.47361, 2.71554, -15.201 ], "start_rotation": [ 0, 0.97337, 0, -0.22923 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.56237, "euclidean_distance": 6.87713, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.34047, 2.58037, -10.37525 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "86d651b81a7c41c4a78b902b43fac9d0", "path": [ "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "0_edge_148_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1" ], "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3X4JMASXCOCA5L9DRSTAY7HJUYRB08", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.56334, 0.11554, 3.11822 ], "start_rotation": [ 0, 0.20817, 0, -0.97809 ], "object_category": "counter", "info": { "geodesic_distance": 6.71062, "euclidean_distance": 3.32616, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.3235, 0.11554, 2.29372 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "A26LOVXF4QZZCO:3AMYWKA6YDPP2QK1XMEDDSR9E0Q6O2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.46532, 3.11554, -1.72316 ], "start_rotation": [ 0, 0.52793, 0, -0.84929 ], "object_category": "seating", "info": { "geodesic_distance": 7.26931, "euclidean_distance": 6.96063, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.80988, 3.11554, -6.83796 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_443_newN_0", "path": [ "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:3DH6GAKTY0S3KE8E5EKMCHI6XDUYZ2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.6916, -3.07901, -8.5241 ], "start_rotation": [ 0, 0.80743, 0, 0.58996 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 6.06165, "euclidean_distance": 5.15284, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.93504, -3.08446, -6.79633 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "a5adbda8c1314346a5dc10d9e0f3f908", "path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "refined_path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:37UQDCYH6ZY3WA73H85JEYLD54R7VO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.31993, -0.68446, -18.62894 ], "start_rotation": [ 0, 0.26289, 0, -0.96483 ], "object_category": "bed", "info": { "geodesic_distance": 22.66882, "euclidean_distance": 20.19094, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.85039, 0.11554, -2.64319 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "84fb90df9ca34c1da30776e93534bf3d", [ "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16" ], "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2MCG5W6LHSRG9:3X65QVEQI2Q6CMQ5ULBO7BFPFHNCLA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.78159, -3.08446, -6.20222 ], "start_rotation": [ 0, 0.1715, 0, -0.98518 ], "object_category": "table", "info": { "geodesic_distance": 7.45547, "euclidean_distance": 2.26711, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.50459, -2.88446, -4.2828 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:3PB5A5BD0X9KEDH8SD6XEXI3IOIG7L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.71277, -2.88446, -2.90819 ], "start_rotation": [ 0, 0.98917, 0, 0.14675 ], "object_category": "picture", "info": { "geodesic_distance": 1.29921, "euclidean_distance": 1.0597, "closest_goal_object_id": 107, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.52132, -2.88446, -3.63766 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "71130c3762f74484947a64c3046c18a3", "path": [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ], "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AHIJACUG7ZL9B:3U5JL4WY5MCYHCUFFP8UZ7YOUCVX4H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.96955, 3.11554, -0.22134 ], "start_rotation": [ 0, 0.25413, 0, 0.96717 ], "object_category": "towel", "info": { "geodesic_distance": 12.16576, "euclidean_distance": 8.6417, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.15331, 3.11554, -7.57594 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488" ], "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7" ], "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A5WWHKD82I8UE:3DL65MZB8FIS6GGDDZOKUGP56J3CE2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.1913, 3.11554, -6.65796 ], "start_rotation": [ 0, 0.72767, 0, -0.68593 ], "object_category": "sink", "info": { "geodesic_distance": 3.63653, "euclidean_distance": 3.28959, "closest_goal_object_id": 741, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.49502, 3.11554, -6.26072 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "17cfb9ce044443479e0a2a89925316a5", "path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A2MCG5W6LHSRG9:38BQUHLA9Y3RRT5TK2LU2OOV406OMV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.2093, 2.51554, -13.22774 ], "start_rotation": [ 0, 0.42166, 0, -0.90675 ], "object_category": "cushion", "info": { "geodesic_distance": 21.19639, "euclidean_distance": 14.69467, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.72827, 3.11554, -0.60858 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_130_newN_0", "path": [ "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "74b4a5ebdda245d3b9d2c39696ee2e42", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "74b4a5ebdda245d3b9d2c39696ee2e42", [ "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b" ], "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3DZQRBDBSNI53ZPCL1XOQUPQ1Y23S1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.56369, 0.11554, 5.68102 ], "start_rotation": [ 0, 0.67611, 0, -0.7368 ], "object_category": "counter", "info": { "geodesic_distance": 13.06569, "euclidean_distance": 9.81492, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.24792, 0.11554, 2.32879 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_560_newN_1", "path": [ "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A314XJY8V1YL12:3E47SOBEYSZ4MLIZ9IEBFVNXYDAICJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.44736, 0.11554, -3.88453 ], "start_rotation": [ 0, 0.92806, 0, 0.37242 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.08538, "euclidean_distance": 7.46002, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.00457, 0.11554, -3.56645 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_57_newN_0", "path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_127_newN_1", "0_edge_112_newN_1", "0_edge_130_newN_0", "6f73ed74234145baac0b9b2854a95610", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "refined_path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", [ "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:3PW9OPU9PSNGOXUZ4I4ZBJXP5JO121", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.3637, 0.11554, -4.22329 ], "start_rotation": [ 0, 0.95145, 0, 0.3078 ], "object_category": "bed", "info": { "geodesic_distance": 10.82756, "euclidean_distance": 9.60745, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.04714, 0.11554, -2.28213 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a0ed01562b764da7a7bc5f5670d9a463", "path": [ "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "refined_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463" ], "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", [ "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TYCR1GOTEMJKF1FMZVWI9GAOYKLZR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.36039, -3.08446, -5.93411 ], "start_rotation": [ 0, 0.94153, 0, 0.33694 ], "object_category": "picture", "info": { "geodesic_distance": 7.51531, "euclidean_distance": 5.26025, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.99702, -3.01631, -3.33788 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "6f87bf60f1984f31a2af16a91f502ad9", "path": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3TN1QCPUCJZBF:3QL2OFSM98LW0MTQ6YR3K3JEKB3CNQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.07736, -3.97202, -13.17962 ], "start_rotation": [ 0, 0.53657, 0, -0.84386 ], "object_category": "table", "info": { "geodesic_distance": 21.19691, "euclidean_distance": 11.91832, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.44501, -3.08446, -6.47045 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a" ], "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "AHIJACUG7ZL9B:3LUY3GC6313QRQA7VWWK86WVJGGP7B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.02294, -0.68446, -16.99841 ], "start_rotation": [ 0, 0.61166, 0, -0.79112 ], "object_category": "picture", "info": { "geodesic_distance": 6.2231, "euclidean_distance": 5.77501, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.7398, -0.68446, -11.43389 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", [ "8f6e247cade44925bd3406f4590e24ae" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A75XDPFNICR3T:3DIP6YHAPEVQUDQ0WN8FSUTMGTVE8D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.80218, -4.08446, -16.0768 ], "start_rotation": [ 0, 0.98458, 0, 0.17492 ], "object_category": "sofa", "info": { "geodesic_distance": 8.07825, "euclidean_distance": 5.91593, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.1536, -3.88446, -20.675 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A2MCG5W6LHSRG9:3IXQG4FA2V1S1FXQROC3RIICX2Q9BN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.4793, 2.51554, -10.30722 ], "start_rotation": [ 0, 0.42033, 0, -0.90737 ], "object_category": "bathtub", "info": { "geodesic_distance": 19.60766, "euclidean_distance": 14.18225, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.30063, 3.11554, -2.41895 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "ef98e16224ae4151a0f5e69ec03916f7", "path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1" ], "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A3B1P3B6X3AM2B:3RGU30DZTCBDQIEW4PTPUS79552JMB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.74467, 0.11554, 0.82808 ], "start_rotation": [ 0, 0.52866, 0, 0.84884 ], "object_category": "table", "info": { "geodesic_distance": 1.80319, "euclidean_distance": 1.63185, "closest_goal_object_id": 523, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.19909, 0.11554, 0.72462 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0_edge_344_newN_2", "path": [ "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "0_edge_347_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "0_edge_347_newN_1" ], "refined_path": [ "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", [ "0_edge_344_newN_2" ], "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "0_edge_347_newN_1" ] }, { "episode_id": "A26LOVXF4QZZCO:32Q90QCQ1UOAPES15C5IIZ2DBT1EK8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.06789, 0.11554, -8.55602 ], "start_rotation": [ 0, 0.77239, 0, 0.63514 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.22082, "euclidean_distance": 2.95866, "closest_goal_object_id": 218, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.96137, -0.68446, -11.32614 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_521_newN_1", "path": [ "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ], "refined_path": [ "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ] }, { "episode_id": "A272X64FOZFYLB:3CN4LGXD5ZRNHHKPKLUWIL5XWILY4K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.78365, 0.11554, -2.54329 ], "start_rotation": [ 0, 0.83853, 0, 0.54485 ], "object_category": "table", "info": { "geodesic_distance": 4.32693, "euclidean_distance": 3.71872, "closest_goal_object_id": 285, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.58938, 0.11554, -6.13752 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "bc988e98c7e44f129dcc49976264f7b1", "path": [ "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3W92K5RLWWKO96TKTFQMGE7HEXJV5I", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.04228, 0.11554, 2.82982 ], "start_rotation": [ 0, 0.7112, 0, 0.70299 ], "object_category": "cushion", "info": { "geodesic_distance": 5.18593, "euclidean_distance": 2.58833, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.1026, 0.11554, 1.17458 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3ON104KXQMZJSCPP5KC8XOKHLAMW4K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.19819, 0.11554, -1.81115 ], "start_rotation": [ 0, 0.11338, 0, 0.99355 ], "object_category": "sink", "info": { "geodesic_distance": 5.09333, "euclidean_distance": 4.67569, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.49105, 0.11554, -3.81043 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "0_edge_476_newN_0", "path": [ "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A28HB7240OFGEW:3KMS4QQVK4T2VSSX0NPO0HNDNTSFK1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.03886, -4.02958, -14.43796 ], "start_rotation": [ 0, 0.15535, 0, 0.98786 ], "object_category": "table", "info": { "geodesic_distance": 21.2283, "euclidean_distance": 13.43913, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.49564, -3.08446, -6.43942 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A19C2SO0IMRZ1L:37KGEN7NJ5TFXWE7RIQ18SNGJ9LPPF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.47525, 1.51554, -3.98524 ], "start_rotation": [ 0, 0.99957, 0, -0.02941 ], "object_category": "counter", "info": { "geodesic_distance": 5.9675, "euclidean_distance": 5.05967, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.12168, 0.11554, -5.55737 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "bad314d5f38844a3bd94e5e1ec557446", "path": [ "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "AIIOT9A7ARQZW:33OOO72IVJOUVZYA3UDFT2P69UICTM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.6015, 0.11554, -8.60671 ], "start_rotation": [ 0, 0.85422, 0, -0.51991 ], "object_category": "plant", "info": { "geodesic_distance": 4.4766, "euclidean_distance": 3.2167, "closest_goal_object_id": 293, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.46698, 0.11554, -5.46998 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "6a57a23befa34262b84aa219156f1432", "path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A3B1P3B6X3AM2B:38F71OA9GVZXLGS0LZ24FUFHCYAMF0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.18751, 0.11554, 8.28985 ], "start_rotation": [ 0, 0.62618, 0, -0.77968 ], "object_category": "picture", "info": { "geodesic_distance": 3.869, "euclidean_distance": 3.48731, "closest_goal_object_id": 426, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.43335, 0.11554, 5.68245 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "e91955faab2b4a60ac33f48771b21c54", "path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf" ], "refined_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf" ] }, { "episode_id": "A1P3HHEXWNLJMP:3B3WTRP3DD5YD2XU8VJSQPF83WN92V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.97695, 0.11554, 4.09811 ], "start_rotation": [ 0, 0.99794, 0, -0.0642 ], "object_category": "toilet", "info": { "geodesic_distance": 8.18647, "euclidean_distance": 6.54868, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.69488, 0.11554, -0.47986 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_189_newN_0", "path": [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "814d798917b14527a61e1135e74d6bba" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "814d798917b14527a61e1135e74d6bba" ], "refined_path": [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ], "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ], "814d798917b14527a61e1135e74d6bba" ] }, { "episode_id": "AZPZDX26SYMFY:3MH9DQ757YFMCOT45LZ8OPWNQ0LGUV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.52184, 0.11554, -7.70037 ], "start_rotation": [ 0, 0.32852, 0, 0.9445 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.59459, "euclidean_distance": 9.6223, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.15635, 0.11554, -0.9555 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A1P3HHEXWNLJMP:308XBLVESK7Y5FTCL5CPI3I63OBBRR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.82803, -2.88446, -2.58533 ], "start_rotation": [ 0, 0.78628, 0, -0.61787 ], "object_category": "toilet", "info": { "geodesic_distance": 15.73363, "euclidean_distance": 14.27033, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84332, -3.08446, -5.55795 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_357_newN_0", "path": [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3P1L2B7AD3S7LBN8KQKF2B964VSOL5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.58481, 3.11554, -6.35078 ], "start_rotation": [ 0, 0.12841, 0, 0.99172 ], "object_category": "seating", "info": { "geodesic_distance": 7.16553, "euclidean_distance": 6.94432, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.7056, 3.11554, -6.96462 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A2MCG5W6LHSRG9:3RSDURM96CP59JHI9R69R7HO97JEYA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.20187, 0.11554, 3.04664 ], "start_rotation": [ 0, 0.25591, 0, -0.9667 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.6202, "euclidean_distance": 7.57605, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.35786, 0.11554, -1.15666 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "90ffb16e607e495b9c230de85201dac7", "path": [ "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7" ], "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "A3RR85PK3AV9TU:3LEIZ60CDL2OJD06X2S6D0PFO49Z9E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.62292, 0.11554, -1.68881 ], "start_rotation": [ 0, 0.60269, 0, 0.79798 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.46539, "euclidean_distance": 3.28096, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.5395, 0.11554, 1.57857 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "3389b852c9c84bbeb9855d46d3637a1d", "path": [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3RR85PK3AV9TU:3KAKFY4PGW5G9LMGGP3AMSJ3S043ID", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.08899, 0.11772, 4.92392 ], "start_rotation": [ 0, 0.94549, 0, 0.32567 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.02599, "euclidean_distance": 8.22504, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.47761, 0.11554, -2.97698 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "0_edge_191_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", [ "b1e41a74f03a4ceeabd6a6da3dc557b2" ], "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3MX2NQ3YCBXGDVYFTUR44Z42U9G5XM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.36, 3.11554, -3.56096 ], "start_rotation": [ 0, 0.91649, 0, -0.40006 ], "object_category": "plant", "info": { "geodesic_distance": 9.83094, "euclidean_distance": 3.44482, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.95022, 3.11554, -6.1099 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "AZPZDX26SYMFY:35USIKEBNTJ7K5KPW7E0Y3R4OPJN60", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.95247, 0.11554, 1.86716 ], "start_rotation": [ 0, 0.74841, 0, -0.66324 ], "object_category": "counter", "info": { "geodesic_distance": 10.04386, "euclidean_distance": 8.03388, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.09305, 0.11554, -5.59915 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_343_newN_0", "path": [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", [ "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "AIIOT9A7ARQZW:3KXIR214I6JXGWRIR0N19H4SH4342O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.48067, -3.08446, -4.50581 ], "start_rotation": [ 0, 0.71783, 0, 0.69622 ], "object_category": "bed", "info": { "geodesic_distance": 7.81141, "euclidean_distance": 5.73131, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.42173, -3.88446, -9.83531 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "38808050304946dfb262966b02c6ae4e", "path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", [ "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d" ] ] }, { "episode_id": "AJQGWGESKQT4Y:3I0BTBYZAZO6IT2O1K7U6IFKF66Y05", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.99348, 3.11554, -7.41735 ], "start_rotation": [ 0, 0.66247, 0, 0.74909 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.15858, "euclidean_distance": 8.81113, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.29375, 3.11554, -2.39578 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "6dbb762da390463f83fc26b02e723259", "path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "5ebe5e4ed7384814bde7bdf5aad27e8f", "0_edge_262_newN_1", "6f73ed74234145baac0b9b2854a95610", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "a0a8cd07457a4376a550ac35104fed9d", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "a0a8cd07457a4376a550ac35104fed9d", [ "eb3774d7d7c9470ca3ef2727c4cb58a7" ], "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2MCG5W6LHSRG9:37Q970SNZGB9TWBXYXJ521AT3EW1SF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.80866, -3.99273, -14.03208 ], "start_rotation": [ 0, 0.51751, 0, 0.85568 ], "object_category": "picture", "info": { "geodesic_distance": 23.36233, "euclidean_distance": 12.83015, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.98216, -3.01441, -3.29978 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AXAO7UJYYEFCO:3U84XHCDIEGNM7UUG7WFWSEZ2CT4ZL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.26663, -3.88446, -13.64355 ], "start_rotation": [ 0, 0.32095, 0, -0.94709 ], "object_category": "sofa", "info": { "geodesic_distance": 11.80128, "euclidean_distance": 7.31597, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.28029, -3.88446, -20.89599 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3YDTZAI2WZJQRB9M8WNN4YUNPYE14T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.60076, -0.60874, -12.67146 ], "start_rotation": [ 0, 0.49595, 0, -0.86835 ], "object_category": "seating", "info": { "geodesic_distance": 7.79444, "euclidean_distance": 7.47129, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.48805, 0.11554, -8.62429 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "95d84f2a4d334b9589b00bd2ee8c41d5", "path": [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413" ], "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "AXAO7UJYYEFCO:3ZWFC4W1UWAOIW5SQ7YL1T9RIMWFR6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.78848, -3.08446, -8.04086 ], "start_rotation": [ 0, 0.38543, 0, 0.92274 ], "object_category": "table", "info": { "geodesic_distance": 6.83977, "euclidean_distance": 3.75843, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.5249, -2.88446, -4.30625 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:36W0OB37HYHHYJIPVEGYQHN37I5HZC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.23908, 3.11554, -2.53662 ], "start_rotation": [ 0, 0.34222, 0, -0.93962 ], "object_category": "stool", "info": { "geodesic_distance": 12.6687, "euclidean_distance": 10.66278, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.98593, 3.11554, -2.39028 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "673c93ec5cfd45efb87f064bd4723f8d", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "refined_path": [ "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f" ], "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ] ] }, { "episode_id": "A16K7X677N4WN6:34QN5IT0T1UR3NB6OG9075RIMRA080", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.56557, 3.11554, -8.00458 ], "start_rotation": [ 0, 0.89697, 0, 0.4421 ], "object_category": "counter", "info": { "geodesic_distance": 2.26553, "euclidean_distance": 2.26553, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.35003, 3.11554, -6.6341 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "95c9fb86dcb14fcabab35769b14beb1e", "path": [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A2TUUIV61CR0C7:3BC8WZX3V5ZLLMA1H2YFIINAL9NRRR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.098, 3.11554, -7.87604 ], "start_rotation": [ 0, 0.57426, 0, 0.81867 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.11475, "euclidean_distance": 6.91134, "closest_goal_object_id": 917, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -1.22458, 3.11554, -3.14146 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "refined_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "episode_id": "A3G5OWGKHW6OL5:3GM6G9ZBKP074LA1GJ7TWYUI382TM1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.94269, -3.88446, -12.57507 ], "start_rotation": [ 0, 0.99492, 0, 0.1007 ], "object_category": "picture", "info": { "geodesic_distance": 10.38612, "euclidean_distance": 9.40562, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.95288, -2.99402, -3.2165 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A21ZK49H9LSSRY:3ZGVPD4G6VK73S9KV8XN40QRICIZTM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.41839, 0.11554, 0.36292 ], "start_rotation": [ 0, 0.87956, 0, -0.47578 ], "object_category": "towel", "info": { "geodesic_distance": 5.75591, "euclidean_distance": 5.0341, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.44506, 0.11554, -0.2756 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "209a0a0f9b4d4f3caaab3c25cbcd9105", "path": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_509_newN_1", "15dc2cb2ace8454eaaeedea4f897cc5a", "34276b7c9d6e491885f36dd1d286e477", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791" ], "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "ARQR5NIFA1AJ:34T446B1C2HTFQ1J5SP59RN1CIH0CS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.5368, -0.68446, -15.50933 ], "start_rotation": [ 0, 0.91012, 0, -0.41435 ], "object_category": "counter", "info": { "geodesic_distance": 13.20529, "euclidean_distance": 10.82106, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84868, 0.11554, -9.01297 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A12H9WVHOB0E0O:3DI28L7YXCH8JD6FX2Z0DK6E2MCE1E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.90164, -3.02698, -3.16636 ], "start_rotation": [ 0, 0.69555, 0, -0.71848 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 4.49918, "euclidean_distance": 3.72126, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.88442, -3.08446, -6.81556 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "0952da4444d04fd3a33c406da20d6f8e", "path": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A75XDPFNICR3T:3RANCT1ZVHKQL7LTPZ7UNE5QAM2UBZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.05504, 3.11554, -6.24333 ], "start_rotation": [ 0, 0.51718, 0, -0.85587 ], "object_category": "seating", "info": { "geodesic_distance": 14.75827, "euclidean_distance": 8.61855, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.58687, 3.11554, -6.85703 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "00e65e341f5843d385964e17103e6ae3", "path": [ "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "86f4a6bece3b4edc8e71cc0d03cef2ca", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5ebe5e4ed7384814bde7bdf5aad27e8f", "95c9fb86dcb14fcabab35769b14beb1e", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3" ], "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9" ], "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A3HL2LL0LEPZT8:3Z2R0DQ0JJHF8YOBG6ZEI3GJUTKE2R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.75793, -3.88446, -19.80344 ], "start_rotation": [ 0, 0.98043, 0, 0.19687 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 21.43744, "euclidean_distance": 15.63529, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.85372, -3.08446, -7.66859 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A13WYZ8AXD6ODX:3TPZPLC3M2F8Q79KTKTUVPKFEEB3P1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.92299, 0.11554, -0.54478 ], "start_rotation": [ 0, 0.3592, 0, -0.93326 ], "object_category": "towel", "info": { "geodesic_distance": 19.23201, "euclidean_distance": 17.48604, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.52887, 0.11554, -0.35552 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_65_newN_0", "path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463" ], "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710" ], "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A16K7X677N4WN6:3AQF3RZ55ALVWD78YJVNQYIVMYXF6L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.63472, -4.08446, -21.09087 ], "start_rotation": [ 0, 0.992, 0, -0.12623 ], "object_category": "toilet", "info": { "geodesic_distance": 18.34097, "euclidean_distance": 16.08176, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.92555, -3.08446, -5.60991 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", [ "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3RR85PK3AV9TU:33PPO7FECXIERDOD9E9MZ15FJDYIDV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.80515, -3.88446, -15.83201 ], "start_rotation": [ 0, 0.76689, 0, 0.64178 ], "object_category": "picture", "info": { "geodesic_distance": 18.97275, "euclidean_distance": 12.92548, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.97087, -2.97584, -3.1733 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "16aea59da05d408683abb0ecbea14077", "path": [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "38808050304946dfb262966b02c6ae4e", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", [ "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3L8LSM7V7KX3T:3H7Z272LX9AP6BZ9ZQXURBEWEZFLP8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.8628, 0.11554, 2.15988 ], "start_rotation": [ 0, 0.89967, 0, 0.43657 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.73826, "euclidean_distance": 9.93727, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.38798, 0.11554, -0.96577 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3RYI5HXC2MJLN:3HQUKB7LNHHV7YIVPSARQAJYBSNHHL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.39705, 0.11554, 7.63353 ], "start_rotation": [ 0, 0.34818, 0, 0.93743 ], "object_category": "seating", "info": { "geodesic_distance": 10.16545, "euclidean_distance": 6.81291, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.97945, 0.11554, 1.15551 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "e91955faab2b4a60ac33f48771b21c54", "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", [ "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "e91955faab2b4a60ac33f48771b21c54", "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279" ], "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "AIOOOO5OXWXKM:3AWETUDC94VHUET91WYJQTOI7VTZIW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.10112, 3.12881, -6.73959 ], "start_rotation": [ 0, 0.63459, 0, -0.77285 ], "object_category": "stool", "info": { "geodesic_distance": 15.62545, "euclidean_distance": 12.59573, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.00108, 3.11554, -2.32659 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "d828865aa4df444da9c7c051b87f1272", "path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A2TUUIV61CR0C7:323Q6SJS8KJBT2RPU2MRNP7LVDHFHS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ 0.35141, 3.11554, 0.09956 ], "start_rotation": [ 0, 0.8452, 0, 0.53446 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.95175, "euclidean_distance": 9.13295, "closest_goal_object_id": 869, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.67956, 3.22911, -7.41861 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A3G5OWGKHW6OL5:3DHE4R9OCYEDSCK2M1P2I61V79AG2L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.84955, 2.14486, -3.44489 ], "start_rotation": [ 0, 0.29556, 0, -0.95532 ], "object_category": "seating", "info": { "geodesic_distance": 5.86273, "euclidean_distance": 3.89688, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.60841, 3.11554, -6.79861 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_282_newN_0", "path": [ "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "8646134295d2446ba7e27db2fd6da710", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", [ "9c4bd27f6372466f904b6ce78045857d" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1" ], "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3CP1TO84PV4FCFVI556BE9A6HZK25B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.986, -0.68446, -18.57309 ], "start_rotation": [ 0, 0.57893, 0, 0.81538 ], "object_category": "picture", "info": { "geodesic_distance": 9.21612, "euclidean_distance": 8.39598, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.53407, -0.68446, -11.45062 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "cd0f3ba84a5f4885a6b2f8626db0f0d0", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "cd0f3ba84a5f4885a6b2f8626db0f0d0", [ "b0e31a5d1f254167a442608bb1b1eadc" ], "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6" ] }, { "episode_id": "A2MCG5W6LHSRG9:3OB0CAO74JSHTT8KZSEFCAE11OUYHV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.33288, 0.11554, -5.79601 ], "start_rotation": [ 0, 0.9713, 0, 0.23786 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.72724, "euclidean_distance": 9.77843, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.51451, -0.35588, -10.12238 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "0_edge_202_newN_0", "5713992a192a40a1a32c11a12873791d", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", [ "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ] ] }, { "episode_id": "AREQ43Q0T8ENT:3BWI6RSP7ICMUZLHMIG9EUXR5847EW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.34704, 3.11554, -2.81263 ], "start_rotation": [ 0, 1, 0, 0.00241 ], "object_category": "counter", "info": { "geodesic_distance": 4.85373, "euclidean_distance": 4.3127, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.2612, 3.11554, -6.72429 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ] }, { "episode_id": "A33VGSEJ44ORMF:3BF51CHDTXDKWYCZRK36KIKHPBZH0X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.97946, -4.08446, -16.46603 ], "start_rotation": [ 0, 0.29314, 0, -0.95607 ], "object_category": "sink", "info": { "geodesic_distance": 14.61074, "euclidean_distance": 12.18738, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.68372, -3.08446, -4.42386 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571" ], "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3HUTX6F6VWQ1KP10AK2ANFAXYV92O2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.08583, 0.11554, -9.05759 ], "start_rotation": [ 0, 0.97899, 0, 0.20389 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.32887, "euclidean_distance": 2.76661, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.43033, -0.2865, -10.04618 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "eaa924cd93794010a866d09389edd172", "path": [ "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "c662afaab01a4c338d739c7600478db2", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ] }, { "episode_id": "A16K7X677N4WN6:33TIN5LC06DOENQ11GQNZTGDIA39YV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.51474, 0.11554, -2.15892 ], "start_rotation": [ 0, 0.63383, 0, 0.77347 ], "object_category": "seating", "info": { "geodesic_distance": 9.38466, "euclidean_distance": 8.36294, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.8377, 0.11554, 1.30797 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "945b55df8540463ba66ab57abbed4869", "path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd" ], "refined_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd" ] }, { "episode_id": "A16K7X677N4WN6:3AAPLD8UCEKLC79QPMRG4TMMMLLHTW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.73308, -3.698, -15.24565 ], "start_rotation": [ 0, 0.98616, 0, 0.16579 ], "object_category": "sink", "info": { "geodesic_distance": 12.95779, "euclidean_distance": 10.98567, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.68585, -3.08446, -4.28397 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A33VGSEJ44ORMF:3W92K5RLWWKO96TKTFQMGE7HEY3V54", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.27393, -3.08446, -8.93469 ], "start_rotation": [ 0, 0.89899, 0, 0.43797 ], "object_category": "sofa", "info": { "geodesic_distance": 6.65438, "euclidean_distance": 5.361, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.99701, -2.88446, -3.83435 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "b3fb49d922374aaf81242f21d39d214d", "path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:351SEKWQS2K0NWE4UT7ERUCW0M7MD4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.71545, -0.68446, -14.35619 ], "start_rotation": [ 0, 0.56006, 0, -0.82845 ], "object_category": "shower", "info": { "geodesic_distance": 20.04682, "euclidean_distance": 18.99726, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.63394, 0.11554, 3.93286 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_333_newN_0", "path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A22VLXXVIEJSD1:37KGEN7NJ5TFXWE7RIQ18SNGJ9GPPA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.56355, 0.11554, -9.13215 ], "start_rotation": [ 0, 0.87386, 0, -0.48617 ], "object_category": "sink", "info": { "geodesic_distance": 6.10446, "euclidean_distance": 3.06105, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.03173, 0.11554, -6.53177 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "AZPZDX26SYMFY:3X4MXAO0BIRQTIRNGW8L5HVRDOBRW3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.88274, -4.08446, -19.6301 ], "start_rotation": [ 0, 0.06142, 0, 0.99811 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 17.45913, "euclidean_distance": 13.54272, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.74724, -3.08446, -6.78551 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A2TUUIV61CR0C7:3ND9UOO81M5FQKWABCBPJ5MS7YWWLW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.46924, -3.08446, -7.34003 ], "start_rotation": [ 0, 0.88797, 0, 0.4599 ], "object_category": "bed", "info": { "geodesic_distance": 3.54332, "euclidean_distance": 3.30162, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.51588, -3.88446, -9.94434 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "cc507e886ab449b8980fcde8de54b4e1", "path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690" ], "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", [ "cc507e886ab449b8980fcde8de54b4e1" ], "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "AD1ILDUXZHASF:3Z7ISHFUH2YO58HWSAMSD4U44ZFZ8F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.73627, -0.68446, -11.52671 ], "start_rotation": [ 0, 0.94233, 0, -0.33468 ], "object_category": "bathtub", "info": { "geodesic_distance": 17.2612, "euclidean_distance": 14.93979, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.56746, 0.11554, 1.69608 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "09fa27f2739d4b849d2cf604a6319170", "path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_340_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0" ], "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", [ "701006439c3f44239c348b0b92833ca3" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A5WWHKD82I8UE:35L9RVQFCQL0CKOFPRHQ9P8O50RHUO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.53215, -4.02538, -17.92861 ], "start_rotation": [ 0, 0.56895, 0, 0.82238 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 17.55861, "euclidean_distance": 13.06362, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.94326, -3.08446, -6.77985 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A1ATL3G98SFW4V:39KFRKBFIPYRLAU73595WJB2DATOYU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.80722, -4.07767, -17.19923 ], "start_rotation": [ 0, 0.28996, 0, -0.95704 ], "object_category": "picture", "info": { "geodesic_distance": 14.83937, "euclidean_distance": 14.12627, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.04285, -3.01042, -3.31162 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A272X64FOZFYLB:3DHE4R9OCYEDSCK2M1P2I61V794G2F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.92246, 0.11554, -8.29633 ], "start_rotation": [ 0, 0.47329, 0, 0.88091 ], "object_category": "shower", "info": { "geodesic_distance": 13.20435, "euclidean_distance": 12.31628, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.84756, 0.11554, 3.97771 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_521_newN_1", "path": [ "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "refined_path": [ "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "episode_id": "A3G5OWGKHW6OL5:3L0KT67Y8GJ6J2M0AMQEGOL3AZQYSV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.04029, 0.11554, -0.91056 ], "start_rotation": [ 0, 0.99967, 0, 0.02557 ], "object_category": "towel", "info": { "geodesic_distance": 1.83344, "euclidean_distance": 1.49366, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.3975, 0.11554, -0.25457 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AONSG5WOC3OX0:3KIBXJ1WD7XW155QZQ8ENBWRFV0KOB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.25352, 0.11554, -5.63623 ], "start_rotation": [ 0, 0.54883, 0, 0.83593 ], "object_category": "shower", "info": { "geodesic_distance": 14.29525, "euclidean_distance": 8.06537, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.52117, 0.11554, -0.42582 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "8c874344710140e681d78c046d471afc", "path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", [ "c662afaab01a4c338d739c7600478db2" ], "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A16K7X677N4WN6:36V4Q8R5ZM3UC5I9ZFDYRTJVJ0LMQW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.10059, -4.08446, -20.2349 ], "start_rotation": [ 0, 0.96401, 0, 0.26588 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.06314, "euclidean_distance": 13.71849, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89297, -3.08446, -6.83711 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3TN1QCPUCJZBF:33NF62TLXL5I0UETJDG9FFF5G1QJKR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.35201, -3.88446, -13.25416 ], "start_rotation": [ 0, 0.54291, 0, 0.83979 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 11.61074, "euclidean_distance": 9.96283, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.94115, -3.08446, -6.80776 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "7afcf1ae63e842e6900e23f8bdaeea3a", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571" ], "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "582a46d4780b498a9b04d0f64f806f4b" ], "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "AZPZDX26SYMFY:3R08VXYT7EYGBZ787IAF004RCCFW77", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.68779, -3.88446, -21.06579 ], "start_rotation": [ 0, 0.96687, 0, -0.25526 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.57803, "euclidean_distance": 16.34718, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.8213, -3.08446, -6.72278 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A9K0CV70JWG1W:39GAF6DQWT3PLOS1SSOADOU02IXV1L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.3055, 0.11554, 2.17205 ], "start_rotation": [ 0, 0.04544, 0, -0.99897 ], "object_category": "toilet", "info": { "geodesic_distance": 11.16825, "euclidean_distance": 9.71239, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.61625, 0.11554, -0.62429 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AIIOT9A7ARQZW:37QW5D2ZRIPR4WVIXISKHBX1HKIS86", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.61664, -2.88446, -3.96732 ], "start_rotation": [ 0, 0.82738, 0, -0.56164 ], "object_category": "sink", "info": { "geodesic_distance": 8.59546, "euclidean_distance": 5.8898, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.77013, -3.08446, -4.27984 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "6e7a94e806f8436e8d1d70efdf3bf3d6", "path": [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", [ "6e7a94e806f8436e8d1d70efdf3bf3d6" ], "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", [ "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A302KOFOYLD89A:3YMU66OBIPBH72NK5MS95A7XWRMHGW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.56738, 3.11554, -9.12017 ], "start_rotation": [ 0, 0.99834, 0, 0.0576 ], "object_category": "picture", "info": { "geodesic_distance": 5.40388, "euclidean_distance": 4.34893, "closest_goal_object_id": 742, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.74471, 3.11554, -7.77147 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "42bfe0c4e181472f8439b68667c23e45", "path": [ "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ], "refined_path": [ "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ] }, { "episode_id": "A2TUUIV61CR0C7:3SKEMFQBZ58TGDIAS9JIQP6R0P58K3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.01654, 0.11554, -8.94515 ], "start_rotation": [ 0, 0.97011, 0, 0.24266 ], "object_category": "sink", "info": { "geodesic_distance": 3.81016, "euclidean_distance": 2.76553, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.35048, 0.11554, -6.58358 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "eaa924cd93794010a866d09389edd172", "path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3L8LSM7V7KX3T:3VHHR074H5K005V9343DRPNBE557LJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.02489, 2.52869, -10.93348 ], "start_rotation": [ 0, 0.91707, 0, -0.39872 ], "object_category": "shower", "info": { "geodesic_distance": 14.4276, "euclidean_distance": 11.76447, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.53501, 3.11554, -2.71746 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "ba9458d357074f62bee47dd2e5556854", "path": [ "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", [ "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50" ], "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A272X64FOZFYLB:3A0EX8ZRNAR72G5YZ04JQZB36B7BYA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.88383, 3.11554, -3.09468 ], "start_rotation": [ 0, 0.99962, 0, 0.02769 ], "object_category": "towel", "info": { "geodesic_distance": 5.41789, "euclidean_distance": 4.58225, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.31548, 3.11554, -7.51324 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A19317A3X87NVM:3LRKMWOKB7KDJTF7CTDR3DH1IZZ2ZR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.48868, 3.11554, -2.78322 ], "start_rotation": [ 0, 0.44098, 0, 0.89752 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.24917, "euclidean_distance": 6.78615, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.30037, 3.11554, -2.31552 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "5ebe5e4ed7384814bde7bdf5aad27e8f", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "dcbc89b871b54cdd98d8b59b700d44a3", "6dbb762da390463f83fc26b02e723259", "6f73ed74234145baac0b9b2854a95610", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", [ "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1" ], "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3" ], "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "AHIJACUG7ZL9B:32KTQ2V7RFIOK61NID2C5YT6912M9X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.10087, 0.17323, 5.9382 ], "start_rotation": [ 0, 0.50061, 0, -0.86567 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.44258, "euclidean_distance": 11.22024, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.86143, 0.11554, -3.29256 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3FQ5JJ512NREJK5EYB818MWMPKCNKE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.91065, 0.11554, -3.21434 ], "start_rotation": [ 0, 0.69907, 0, 0.71505 ], "object_category": "stool", "info": { "geodesic_distance": 7.11405, "euclidean_distance": 6.07762, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.96475, 0.11554, -8.49908 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "0_edge_476_newN_0", "2ba3d353cffb46eda191ea81569608f7", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "2ba3d353cffb46eda191ea81569608f7", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A1P3HHEXWNLJMP:3MRNMEIQW79GHEWJUH6ZRHX70GADLK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.7495, -3.88446, -14.1879 ], "start_rotation": [ 0, 0.96536, 0, -0.26091 ], "object_category": "table", "info": { "geodesic_distance": 11.07091, "euclidean_distance": 10.16636, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.3911, -3.08446, -6.3917 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A16K7X677N4WN6:3VELCLL3GMM0PR6BSDJ6V2REEONF1V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.31161, -0.68446, -16.22793 ], "start_rotation": [ 0, 0.98736, 0, 0.1585 ], "object_category": "cushion", "info": { "geodesic_distance": 2.82178, "euclidean_distance": 1.91702, "closest_goal_object_id": 231, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.52294, -0.68446, -14.81967 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "45e5c21ecc32454b9390fca6c7d78316", "path": [ "45e5c21ecc32454b9390fca6c7d78316", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "45e5c21ecc32454b9390fca6c7d78316", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ], "refined_path": [ "45e5c21ecc32454b9390fca6c7d78316", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "84fb90df9ca34c1da30776e93534bf3d", [ "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3PMBY0YE296BBKPW5O8Y22OUFNHC9O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.52977, -0.68446, -14.697 ], "start_rotation": [ 0, 0.57019, 0, 0.82151 ], "object_category": "toilet", "info": { "geodesic_distance": 18.13083, "euclidean_distance": 16.98473, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.5932, 0.11554, 1.54854 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_333_newN_0", "path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", [ "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A2Q6L9LKSNU7EB:39OWYR0EPMUXFXHE42QF9P2OL98YFO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.52843, 0.11554, 7.30247 ], "start_rotation": [ 0, 0.5425, 0, -0.84005 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.98164, "euclidean_distance": 10.95377, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.42076, 0.11554, -1.19869 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "8702672b13ef44ab85da7062d5647237", "path": [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "0_edge_347_newN_2", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", [ "8702672b13ef44ab85da7062d5647237" ], "0_edge_347_newN_2", [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0" ], "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557" ], "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "ARQR5NIFA1AJ:3JZQSN0I3SDXT6WEAW492PVKGDYFGN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.26187, 0.11554, -2.32106 ], "start_rotation": [ 0, 0.4777, 0, 0.87852 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.80048, "euclidean_distance": 7.22787, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.4961, 0.11554, -5.99006 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_65_newN_0", "path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0_edge_576_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "0bee565558544262b0368f2a92702677", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A1P3HHEXWNLJMP:358010RM5GWXBPDUZL9H8XY16JGVXO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.63783, -4.07632, -15.58357 ], "start_rotation": [ 0, 0.34101, 0, -0.94006 ], "object_category": "chair", "info": { "geodesic_distance": 11.42987, "euclidean_distance": 10.28343, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.45205, -4.08446, -21.77247 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", [ "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01" ], "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3WYP994K19U1W4O339NBFJPBS586YM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.60669, -3.88446, -14.46456 ], "start_rotation": [ 0, 0.6654, 0, -0.74649 ], "object_category": "sofa", "info": { "geodesic_distance": 11.92453, "euclidean_distance": 6.49621, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.38613, -3.88446, -21.07092 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:38F5OAUN5PFYE9CJCJOFZXU4WFF7HC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.47433, -4.06307, -15.16377 ], "start_rotation": [ 0, 0.8669, 0, 0.49849 ], "object_category": "shower", "info": { "geodesic_distance": 4.51961, "euclidean_distance": 3.41853, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.08375, -3.88446, -17.73013 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A34CQE6RGU49L7:3V26SBZTBFH3P4IJ10M5QOR82WZZZ8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.47023, 0.11554, 2.43226 ], "start_rotation": [ 0, 0.70925, 0, -0.70496 ], "object_category": "shower", "info": { "geodesic_distance": 11.83035, "euclidean_distance": 8.48196, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.54815, 0.11554, -0.47351 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "episode_id": "ACM3TPZKLE7WC:3FTF2T8WLTLKPIV1MF8ZEWVX7W2W96", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.5368, -0.68446, -15.50933 ], "start_rotation": [ 0, 0.91012, 0, -0.41435 ], "object_category": "counter", "info": { "geodesic_distance": 13.20529, "euclidean_distance": 10.82106, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84868, 0.11554, -9.01297 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A1F6MWP9A0XLJQ:34QN5IT0T1UR3NB6OG9075RIMNA08S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.72675, -0.68446, -13.58401 ], "start_rotation": [ 0, 0.76427, 0, 0.64489 ], "object_category": "sofa", "info": { "geodesic_distance": 3.04865, "euclidean_distance": 2.21827, "closest_goal_object_id": 208, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.56231, -0.68446, -11.63766 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_609_newN_0", "path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170" ], "refined_path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170" ] ] }, { "episode_id": "A2KW17G25L25R8:3DQQ64TANIO5H5B8344W0MVCBXXWP7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.59601, -3.93094, -20.21609 ], "start_rotation": [ 0, 0.89691, 0, 0.44222 ], "object_category": "cushion", "info": { "geodesic_distance": 18.27773, "euclidean_distance": 15.21472, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.51473, -3.08446, -6.29631 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3B1P3B6X3AM2B:3WLEIWSYHQKRS8FD677K36DWLYL2HH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.81624, 0.11554, -3.43695 ], "start_rotation": [ 0, 0.96897, 0, 0.24718 ], "object_category": "towel", "info": { "geodesic_distance": 18.81267, "euclidean_distance": 17.86714, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.49357, 0.11554, -0.28695 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_509_newN_1", "path": [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "b20afa1056624aaca536b2bc6af05de8", "0bee565558544262b0368f2a92702677", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "fd1c630635a94f78878d5b13a63274bf", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "10_edge_155_newN_0", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "0_edge_153_newN_1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "10_edge_155_newN_0", "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", [ "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc" ], "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151" ], "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2" ], "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ], "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477" ], "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "10_edge_155_newN_0", [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "AVASQBFN6J692:31Q0U3WYDRINAYR5AULU7AEXGT5716", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.25544, -0.58466, -15.21058 ], "start_rotation": [ 0, 0.55314, 0, -0.83309 ], "object_category": "bathtub", "info": { "geodesic_distance": 22.00614, "euclidean_distance": 19.37546, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.46923, 0.11554, 1.5343 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "173a50fdd7d14bbb9475f84357ecae45", "path": [ "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3K1P4SPR8XS7R:3RANCT1ZVHKQL7LTPZ7UNE5Q9CBBU4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.41247, 0.11554, -1.98009 ], "start_rotation": [ 0, 0.83883, 0, -0.54439 ], "object_category": "toilet", "info": { "geodesic_distance": 7.24157, "euclidean_distance": 5.15286, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.57584, 0.11554, 1.63172 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", [ "dfb6d728749e4dbb9116902a8f2dd6eb" ], "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A3TN1QCPUCJZBF:352YTHGROXG1VMU0ALQ8WLAU6F64HB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.46715, -0.68446, -21.31516 ], "start_rotation": [ 0, 0.96214, 0, -0.27254 ], "object_category": "plant", "info": { "geodesic_distance": 6.3097, "euclidean_distance": 4.97019, "closest_goal_object_id": 227, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.18853, -0.68446, -16.43318 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "52b3a84808ca4666982de6fbf6324acf", "path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "refined_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf" ], "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ] }, { "episode_id": "AOMFEAWQHU3D8:3YW4XOSQKSOP8931N2E5H2SHN1KU16", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.5055, -0.68446, -19.17254 ], "start_rotation": [ 0, 0.69349, 0, -0.72047 ], "object_category": "stool", "info": { "geodesic_distance": 3.9169, "euclidean_distance": 3.80013, "closest_goal_object_id": 222, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.1269, -0.68446, -15.38743 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "84fb90df9ca34c1da30776e93534bf3d", "path": [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3H0W84IWBM5WCI5WVWEFJBOR6D4ERU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.64714, 0.11554, 2.48573 ], "start_rotation": [ 0, 0.9968, 0, 0.07988 ], "object_category": "bed", "info": { "geodesic_distance": 10.18069, "euclidean_distance": 9.32181, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.98387, 0.11554, -1.38982 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3TDXMTX3CDXF649YZR18TVVN2KT6IV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.13815, 3.11554, -4.44586 ], "start_rotation": [ 0, 0.89247, 0, -0.45111 ], "object_category": "stool", "info": { "geodesic_distance": 2.47442, "euclidean_distance": 2.24852, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.03088, 3.11554, -2.3279 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "efe92e05c7f044dfb7cfc92e3cb2f2b9", "path": [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] ] }, { "episode_id": "ARQR5NIFA1AJ:3M1CVSFP628TA49K2CNTI2OVO6WAQ9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.19792, 3.11554, -7.31874 ], "start_rotation": [ 0, 0.16255, 0, 0.9867 ], "object_category": "chair", "info": { "geodesic_distance": 3.69772, "euclidean_distance": 3.05095, "closest_goal_object_id": 960, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.26372, 2.81502, -9.73685 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_148_newN_0", "path": [ "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "refined_path": [ "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "episode_id": "A2L26DMSVUEDP6:3T3IWE1XG8QYP08T8CEAD7END2KQTS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.15987, 3.11554, -5.63565 ], "start_rotation": [ 0, 0.99964, 0, 0.02683 ], "object_category": "shower", "info": { "geodesic_distance": 16.84744, "euclidean_distance": 13.6613, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.65879 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "23d3a1b1dc134acc8ffa787e2ee558ed", "path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "AKYXQY5IP7S0Z:3GU1KF0O4K4DT2DX8D80D8IR2Z0BPY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.74116, -3.8417, -11.21517 ], "start_rotation": [ 0, 0.88824, 0, -0.45937 ], "object_category": "sofa", "info": { "geodesic_distance": 9.62355, "euclidean_distance": 9.04993, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.86391, -2.88446, -3.94916 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:333U7HK6IBIAMO8JRWUMB2KFVG8DJY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.81984, -4.07619, -18.61084 ], "start_rotation": [ 0, 0.96214, 0, -0.27256 ], "object_category": "toilet", "info": { "geodesic_distance": 17.1318, "euclidean_distance": 14.06187, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.77681, -3.08446, -5.47373 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3RSDURM96CP59JHI9R69R7HO8XVEY1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.90336, 0.11554, 6.23771 ], "start_rotation": [ 0, 0.65249, 0, 0.7578 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.19007, "euclidean_distance": 9.65332, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.81316, 0.11554, -3.43562 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_446_newN_1", "path": [ "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A2JXPT39AWRES7:30LB5CDZNED6NJCTX69DKPOMLWOZ03", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.01533, 0.11554, -2.99449 ], "start_rotation": [ 0, 0.73042, 0, 0.683 ], "object_category": "toilet", "info": { "geodesic_distance": 11.26758, "euclidean_distance": 8.98369, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.61496, 0.11554, -0.58935 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_476_newN_1", "path": [ "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AEWGY34WUIA32:3KRVW3HTZPO6PLXMRJ23MTYW0B9SM3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.0648, 3.11554, -2.02287 ], "start_rotation": [ 0, 0.99843, 0, 0.05593 ], "object_category": "sofa", "info": { "geodesic_distance": 9.2704, "euclidean_distance": 8.14601, "closest_goal_object_id": 898, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.93055, 3.11554, -0.92016 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "ea6f8b054a3b493482b183a6e92b9aa7", "path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] }, { "episode_id": "ACI0C2WU1NABK:3FK0YFF9P1J5708ZZ68ZKC1GQAJVV0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.86759, -3.39944, -8.98777 ], "start_rotation": [ 0, 0.96728, 0, -0.25373 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 6.58096, "euclidean_distance": 5.50042, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.88854, -3.08446, -6.84366 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "a5adbda8c1314346a5dc10d9e0f3f908", "path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3RYI5HXC2MJLN:38SKSKU7R30XPPC5MV7AIEDKSIELIK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.8148, 0.11554, -8.63607 ], "start_rotation": [ 0, 0.70668, 0, -0.70754 ], "object_category": "toilet", "info": { "geodesic_distance": 14.70765, "euclidean_distance": 12.45027, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.57127, 0.11554, 1.59967 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", [ "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ] }, { "episode_id": "AJQGWGESKQT4Y:33PPO7FECXIERDOD9E9MZ15FJ5NID4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.86712, -3.74282, -13.74007 ], "start_rotation": [ 0, 0.13848, 0, -0.99037 ], "object_category": "toilet", "info": { "geodesic_distance": 10.619, "euclidean_distance": 8.80552, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.8491, -3.08446, -5.49811 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3A4NIXBJ782JL82W7A52A7K18KELM1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.77009, 3.11554, -0.69884 ], "start_rotation": [ 0, 0.60354, 0, -0.79733 ], "object_category": "plant", "info": { "geodesic_distance": 7.88816, "euclidean_distance": 6.56018, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.33241, 3.11554, -1.59136 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "37376bc376de4a1bbff1e45f6f420d0f", "path": [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "37376bc376de4a1bbff1e45f6f420d0f", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b" ], "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A34CQE6RGU49L7:3HMIGG0U4N9O0I7RWOK9ZXL2XUXY8M", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.94072, 0.11554, 5.55917 ], "start_rotation": [ 0, 0.48847, 0, 0.87258 ], "object_category": "towel", "info": { "geodesic_distance": 14.68522, "euclidean_distance": 10.30149, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.42716, 0.11554, -0.45614 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", [ "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3K2755HG5U6UHMMN8631W4SN292FD8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ 0.10469, 0.11554, 0.77655 ], "start_rotation": [ 0, 0.48227, 0, -0.87602 ], "object_category": "shower", "info": { "geodesic_distance": 7.13295, "euclidean_distance": 5.0057, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.8169, 0.11554, 3.98786 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "c4b31a14960b43c0b4b17320ce76acd1", "path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] }, { "episode_id": "A3L8LSM7V7KX3T:3BDCF01OGZXJFPRAQDTD4278HQFYLJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.24717, 3.11554, -3.37972 ], "start_rotation": [ 0, 0.68733, 0, -0.72635 ], "object_category": "chair", "info": { "geodesic_distance": 3.26385, "euclidean_distance": 2.86998, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.03593, 3.11554, -1.55207 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A38AQF5BPHJS4C:3P1L2B7AD3S7LBN8KQKF2B964O5LO1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.93581, -3.7832, -10.26803 ], "start_rotation": [ 0, 0.4706, 0, 0.88235 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 25.63198, "euclidean_distance": 12.60228, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.81479, -3.08446, -6.7638 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EKVH9QME07AGSABKBOUCLYYUDW2DR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.3564, 0.11554, 7.02674 ], "start_rotation": [ 0, 0.98461, 0, -0.17474 ], "object_category": "shower", "info": { "geodesic_distance": 11.2965, "euclidean_distance": 9.05436, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.42833, 0.11554, -0.63111 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_561_newN_0", "path": [ "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0" ], "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557" ], "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3FTYUGLFSWO2FPTY2UQSAS1AELM5DQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.61757, -0.68446, -17.91253 ], "start_rotation": [ 0, 0.891, 0, -0.45401 ], "object_category": "sink", "info": { "geodesic_distance": 12.02767, "euclidean_distance": 11.31763, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.30495, 0.11554, -6.65335 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "45e5c21ecc32454b9390fca6c7d78316", "path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A2J6S7QR4CGXTW:3ZAK8W07I6HP1KIJRJA53X97JCHU0D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.06543, 0.11554, -1.16993 ], "start_rotation": [ 0, 0.23352, 0, 0.97235 ], "object_category": "shower", "info": { "geodesic_distance": 11.26925, "euclidean_distance": 7.38691, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66868, 0.11554, 3.85823 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "ee987ba0e8ee44c1a95ff0f958f31791", "path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3300DTYQT4KW0HQWIHPFELEMASBEQ4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.15594, -4.06742, -15.18809 ], "start_rotation": [ 0, 0.65269, 0, -0.75762 ], "object_category": "cabinet", "info": { "geodesic_distance": 21.17166, "euclidean_distance": 14.10417, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.67293, -3.08446, -4.776 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ] }, { "episode_id": "A3HL2LL0LEPZT8:3OUYGIZWR91C9FANAXBBTRM8ASY0PP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.39574, 0.31301, 7.54354 ], "start_rotation": [ 0, 0.31241, 0, -0.94995 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 14.06058, "euclidean_distance": 12.24615, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.86208, 0.11554, -3.2405 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "0_edge_347_newN_1", "0_edge_560_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0" ], "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ], "0_edge_560_newN_1", [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "A75XDPFNICR3T:3T111IHZ5GTFHMEFNLYTRXNGEEL9R7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.51945, 2.51554, -12.39266 ], "start_rotation": [ 0, 0.16723, 0, 0.98592 ], "object_category": "picture", "info": { "geodesic_distance": 5.28868, "euclidean_distance": 4.99748, "closest_goal_object_id": 970, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.64198, 2.69145, -15.23961 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "0_edge_112_newN_1", "path": [ "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0" ], "refined_path": [ "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1" ], "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0" ] }, { "episode_id": "A26LOVXF4QZZCO:3AAPLD8UCEKLC79QPMRG4TMMMGDTHQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.66459, 3.11554, -3.46018 ], "start_rotation": [ 0, 0.47701, 0, 0.8789 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.25382, "euclidean_distance": 2.79341, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.29317, 3.11554, -2.38113 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3RR85PK3AV9TU:3EFE17QCRE8KX7WB0MMQUOQ0JP6SHQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.40207, 3.11554, -4.24505 ], "start_rotation": [ 0, 0.16346, 0, 0.98655 ], "object_category": "chair", "info": { "geodesic_distance": 6.81654, "euclidean_distance": 5.82836, "closest_goal_object_id": 960, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.11537, 2.88377, -9.6083 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "dcbc89b871b54cdd98d8b59b700d44a3", "path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", [ "dcbc89b871b54cdd98d8b59b700d44a3" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A22VLXXVIEJSD1:3MH9DQ757YFMCOT45LZ8OPWNQVEUGS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.53267, -0.68446, -11.42315 ], "start_rotation": [ 0, 0.92263, 0, -0.38567 ], "object_category": "seating", "info": { "geodesic_distance": 6.30507, "euclidean_distance": 5.93185, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.33046, 0.11554, -8.57829 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "09fa27f2739d4b849d2cf604a6319170", "path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_340_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0" ], "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A38AQF5BPHJS4C:3WZ36BJEV5JBLU64PUHKIIJOR26TB6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.1032, 0.11554, -6.25676 ], "start_rotation": [ 0, 0.68879, 0, 0.72496 ], "object_category": "sofa", "info": { "geodesic_distance": 8.06655, "euclidean_distance": 6.749, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.12913, 0.11554, 0.5597 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "8c874344710140e681d78c046d471afc", "path": [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c" ], "refined_path": [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "0_edge_355_newN_1" ], "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c" ] }, { "episode_id": "A221PNPQRV4FC4:3G5W44VEU9L89SOSB7V6I2NPO26GK3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.12825, 2.59758, -14.74475 ], "start_rotation": [ 0, 0.46915, 0, -0.88312 ], "object_category": "bathtub", "info": { "geodesic_distance": 17.21742, "euclidean_distance": 14.23192, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.36126, 3.11554, -2.36663 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_198_newN_0", "path": [ "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "5ebe5e4ed7384814bde7bdf5aad27e8f", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42" ], "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b" ], "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A399GYOD60WD7M:3VNL7UK1XHM1YBIKUW3G18A9611TFT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.5179, 0.27036, -4.50018 ], "start_rotation": [ 0, 0.03595, 0, -0.99935 ], "object_category": "bed", "info": { "geodesic_distance": 10.89667, "euclidean_distance": 8.85141, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.97494, 0.11554, -2.28363 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a0ed01562b764da7a7bc5f5670d9a463", "path": [ "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ], "refined_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", [ "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:3X3OR7WPZ1340J0SD9VJ5PJ6PIIL8D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.59795, 0.11554, -3.80283 ], "start_rotation": [ 0, 0.69212, 0, -0.72178 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.63132, "euclidean_distance": 2.85464, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.53323, 0.11554, -5.99812 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A75XDPFNICR3T:33FBRBDW6Q2BXF6M0W2K26TJVBA8CU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.41773, -0.68446, -18.5986 ], "start_rotation": [ 0, 0.95627, 0, 0.29248 ], "object_category": "bed", "info": { "geodesic_distance": 18.71716, "euclidean_distance": 17.16708, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.98692, 0.11554, -2.64825 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_373_newN_0", "path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3TDXMTX3CDXF649YZR18TVVN2K66I8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.39255, 3.15506, -0.72956 ], "start_rotation": [ 0, 0.11545, 0, 0.99331 ], "object_category": "plant", "info": { "geodesic_distance": 8.24909, "euclidean_distance": 4.94869, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.32679, 3.11554, -1.51837 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "673c93ec5cfd45efb87f064bd4723f8d", "path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A12H9WVHOB0E0O:39ZSFO5CAAZW3QJ5DRKBL2O3HH6JUJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.14297, 0.11554, -0.86029 ], "start_rotation": [ 0, 0.96314, 0, -0.26902 ], "object_category": "sink", "info": { "geodesic_distance": 3.9816, "euclidean_distance": 3.60776, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.48664, 0.11554, 2.42046 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "dfb6d728749e4dbb9116902a8f2dd6eb", "path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "refined_path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ] }, { "episode_id": "A16K7X677N4WN6:3L6L49WXW20PFTA59JPZ7O7417U45B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.98374, -3.91372, -20.88114 ], "start_rotation": [ 0, 0.86804, 0, 0.49649 ], "object_category": "table", "info": { "geodesic_distance": 18.4493, "euclidean_distance": 14.60614, "closest_goal_object_id": 186, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.76652, -3.08446, -7.19469 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A75XDPFNICR3T:3MHW492WW2GMHDEQLE78XGI30P7VM0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.46873, -0.68446, -19.3923 ], "start_rotation": [ 0, 0.91032, 0, 0.41392 ], "object_category": "cushion", "info": { "geodesic_distance": 5.1477, "euclidean_distance": 4.76094, "closest_goal_object_id": 231, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.86658, -0.68446, -14.72231 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "84fb90df9ca34c1da30776e93534bf3d", "path": [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e" ], "refined_path": [ "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ] ] }, { "episode_id": "A12H9WVHOB0E0O:3OE22WJIGKRDPDNI8H4KI30PVCYUQL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.27038, 3.11554, -2.47204 ], "start_rotation": [ 0, 0.69513, 0, 0.71889 ], "object_category": "cushion", "info": { "geodesic_distance": 8.73322, "euclidean_distance": 7.73315, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.65563, 3.11554, -0.56584 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_405_newN_0", "path": [ "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "ee7f6616e9894db580c78b08a6aa7343" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "ee7f6616e9894db580c78b08a6aa7343" ], "refined_path": [ "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "ee7f6616e9894db580c78b08a6aa7343" ] }, { "episode_id": "AZPZDX26SYMFY:3U4J9857OGEONW9XCREJDMR612M7B8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.54487, -0.68446, -16.54696 ], "start_rotation": [ 0, 0.9994, 0, -0.03475 ], "object_category": "seating", "info": { "geodesic_distance": 12.32113, "euclidean_distance": 11.42116, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.38988, 0.11554, -8.66216 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0", [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "AIOOOO5OXWXKM:3VE8AYVF8O0I0RQWRYSLACEMSO3F8D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.18301, 0.11554, -1.96794 ], "start_rotation": [ 0, 0.40637, 0, 0.91371 ], "object_category": "plant", "info": { "geodesic_distance": 5.5818, "euclidean_distance": 5.2175, "closest_goal_object_id": 508, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.18743, 0.11554, 3.09968 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "769866f82e6b4388b8b63023532685e0", "path": [ "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "refined_path": [ "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "episode_id": "A19C2SO0IMRZ1L:3YOH7BII0BARRPEN02USI3QZBJKKVQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.54937, 0.22557, 6.25001 ], "start_rotation": [ 0, 0.43103, 0, -0.90234 ], "object_category": "toilet", "info": { "geodesic_distance": 15.29131, "euclidean_distance": 12.14176, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.70467, 0.11554, -0.64307 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "814d798917b14527a61e1135e74d6bba" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "814d798917b14527a61e1135e74d6bba" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ], "814d798917b14527a61e1135e74d6bba" ] }, { "episode_id": "AOMFEAWQHU3D8:3F0BG9B9MRQK0428MJS3LXP7MAR7Y8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.50842, -0.68446, -13.97253 ], "start_rotation": [ 0, 0.69244, 0, -0.72148 ], "object_category": "cabinet", "info": { "geodesic_distance": 1.31348, "euclidean_distance": 1.28864, "closest_goal_object_id": 218, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.28406, -0.68446, -14.27305 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_333_newN_0", "path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_334_newN_1" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1" ], "refined_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", [ "0_edge_333_newN_1" ], "0_edge_334_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:32KTQ2V7RFIOK61NID2C5YT69XT9M3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.30938, 0.09823, 7.58957 ], "start_rotation": [ 0, 0.95926, 0, 0.28253 ], "object_category": "stool", "info": { "geodesic_distance": 12.10977, "euclidean_distance": 4.79098, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.801, 0.11554, 3.45941 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A28U7B76HLCS1U:3IJXV6UZ1ZM8SN7IRF464QMJYALRIY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.23206, 3.11554, -2.92996 ], "start_rotation": [ 0, 0.78607, 0, 0.61814 ], "object_category": "stool", "info": { "geodesic_distance": 10.55738, "euclidean_distance": 8.68852, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.01521, 3.11554, -2.29584 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "81829ab350054bf297a7ebbb1eb4fcee", "path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3R0T90IZ1UFQQUC4JUE8UJAHJUPGCK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.10773, -3.81209, -12.80114 ], "start_rotation": [ 0, 0.55819, 0, 0.82972 ], "object_category": "shower", "info": { "geodesic_distance": 10.1925, "euclidean_distance": 8.59437, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.78306, -3.88446, -18.04262 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "b634b67520bf4c579f044a8e433b021d", "path": [ "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", [ "280d28cd4c80476384046234022051f9" ], "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3V2XCDF45VN9X:3G0WWMR1UXN0UN39BGSY488VNGAQNU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.38321, 0.11554, 2.53894 ], "start_rotation": [ 0, 0.34994, 0, 0.93677 ], "object_category": "stool", "info": { "geodesic_distance": 1.10096, "euclidean_distance": 1.02251, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.8786, 0.11554, 3.34787 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0_edge_343_newN_0", "path": [ "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ], "refined_path": [ "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0" ] }, { "episode_id": "AOG0PUCLMU0HH:31JLPPHS2WXQ57XJEKGF6PFP4583O5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.46979, 0.11554, 2.00269 ], "start_rotation": [ 0, 0.79706, 0, -0.6039 ], "object_category": "plant", "info": { "geodesic_distance": 1.16394, "euclidean_distance": 0.80982, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.24607, 0.11554, 2.36413 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "bfb78765ec3e4eb7aebdea9e7c2bf047", "path": [ "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279" ], "refined_path": [ "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279" ] }, { "episode_id": "ALCPF5NANBDSZ:37TD41K0AJCTGZLVEU8PJXTK6XXCSX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.77573, 3.11554, -7.55523 ], "start_rotation": [ 0, 0.78236, 0, -0.62282 ], "object_category": "chair", "info": { "geodesic_distance": 3.25432, "euclidean_distance": 2.60716, "closest_goal_object_id": 960, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.19168, 2.82693, -9.72176 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_148_newN_0", "path": [ "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A17OSPGV41FZ7P:3PMBY0YE296BBKPW5O8Y22OUFINC9K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.70111, 0.11554, -7.66126 ], "start_rotation": [ 0, 0.82832, 0, 0.56026 ], "object_category": "sofa", "info": { "geodesic_distance": 3.53499, "euclidean_distance": 3.32955, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.77152, -0.57243, -10.93381 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_565_newN_2", "path": [ "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2" ], "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "AOG0PUCLMU0HH:3VHP9MDGRPNKCUG98A8QCYA5IH8CF4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.25838, 2.51554, -11.36663 ], "start_rotation": [ 0, 0.99595, 0, 0.08987 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.6786, "euclidean_distance": 4.15949, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.29071, 2.51554, -10.18046 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "ef98e16224ae4151a0f5e69ec03916f7", "path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "refined_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1" ], "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ] }, { "episode_id": "AZPZDX26SYMFY:3AAJC4I4FIVDPPDFJEJJ2U3IK5LJZL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.32483, 0.11554, 3.52344 ], "start_rotation": [ 0, 0.62423, 0, -0.78124 ], "object_category": "sink", "info": { "geodesic_distance": 7.33452, "euclidean_distance": 4.80938, "closest_goal_object_id": 600, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.48392, 0.11554, -0.31766 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "13c30ac9dae6410fa1da3247fba2af76", "path": [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A35CL66BEUSJ5Z:3LRKMWOKB7KDJTF7CTDR3DH1IUQ2Z8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.61909, 0.11554, -8.11182 ], "start_rotation": [ 0, 0.9967, 0, 0.08114 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.94355, "euclidean_distance": 8.30819, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.47946, -0.34065, -10.10773 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "e91fd405eae74dcb93ab7036937b1c60", "path": [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "A1P3HHEXWNLJMP:3SLE99ER0PG776F3VM6246K5CX6ZB4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.99783, -0.68446, -17.77966 ], "start_rotation": [ 0, 0.95045, 0, 0.31087 ], "object_category": "bed", "info": { "geodesic_distance": 17.85964, "euclidean_distance": 15.37519, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.98213, 0.11554, -2.71003 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "45e5c21ecc32454b9390fca6c7d78316", "path": [ "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2GQH4SWIOFH2L:3FE7TXL1LKQ451EGPXUECK5XDSR2Q2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.28761, 3.11554, -6.89316 ], "start_rotation": [ 0, 0.20717, 0, -0.9783 ], "object_category": "shower", "info": { "geodesic_distance": 11.10865, "euclidean_distance": 5.87664, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.68823 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "6e0c4533325b431db69bee9e850f3d07", "path": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A1P3HHEXWNLJMP:3M0NZ3JDP315IQYUUCFP1KKD2555Z2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.23541, -3.08446, -5.27986 ], "start_rotation": [ 0, 0.73248, 0, -0.68079 ], "object_category": "picture", "info": { "geodesic_distance": 11.39305, "euclidean_distance": 7.91928, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.00997, -3.01009, -3.27468 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "248dcb819089462a98fd16c5d7676fd7", "path": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7" ], "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3RR85PK3AV9TU:3QJOXOW4XLU5F2S4QOIYXCUHZKOMEK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.26686, 3.11554, -6.9699 ], "start_rotation": [ 0, 0.86609, 0, 0.49988 ], "object_category": "chair", "info": { "geodesic_distance": 6.78491, "euclidean_distance": 5.69146, "closest_goal_object_id": 960, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.14514, 2.85358, -9.67022 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "refined_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "episode_id": "A2TUUIV61CR0C7:3XIQGXAUMEBV0ZCYHN612JIYK3MX7F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.9031, -0.68446, -16.4916 ], "start_rotation": [ 0, 0.3663, 0, 0.9305 ], "object_category": "counter", "info": { "geodesic_distance": 12.53006, "euclidean_distance": 10.97392, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84242, 0.11554, -9.03058 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2" ] }, { "episode_id": "A3L8LSM7V7KX3T:3QBD8R3Z23MBN3GNEYLYGU7VI1IO4H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.88973, -4.01923, -21.41268 ], "start_rotation": [ 0, 0.94856, 0, 0.3166 ], "object_category": "table", "info": { "geodesic_distance": 17.66875, "euclidean_distance": 15.34686, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.37865, -3.08446, -6.3389 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A1C8FN01981A69:3CCZ6YKWR9MQCZGHQELQOWIKMWH95E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.71782, -3.90898, -17.48812 ], "start_rotation": [ 0, 0.26811, 0, 0.96339 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.43441, "euclidean_distance": 13.34241, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.86767, -3.08446, -6.88281 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad" ], "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", [ "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1", [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3QEMNNSB2Z2H2T7HQN5P8CF64LGD7Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.23343, 3.11554, -1.83646 ], "start_rotation": [ 0, 0.83139, 0, 0.55569 ], "object_category": "seating", "info": { "geodesic_distance": 7.12207, "euclidean_distance": 5.48583, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.65476, 3.11554, -6.79389 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "a2131c9b8e674c3db73821fb924f1644", "path": [ "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ], "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A3HL2LL0LEPZT8:3PEIJLRY6VWAQEDZPVEDUZHFDWIXW8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.5218, 3.11554, -3.28039 ], "start_rotation": [ 0, 0.99853, 0, 0.05419 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.55984, "euclidean_distance": 1.41061, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.26118, 3.11554, -1.76583 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "A3NFGEUZAH9V5G:3JPSL1DZ5U2877WSMKVCE8TQK2ZANR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.46192, 0.11554, -0.44589 ], "start_rotation": [ 0, 0.66725, 0, 0.74483 ], "object_category": "counter", "info": { "geodesic_distance": 13.93677, "euclidean_distance": 9.0401, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.12928, 0.11554, -5.66473 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "badffebebfcf4e7cb8883d6a0f8fa25d", "path": [ "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_347_newN_0", "0_edge_191_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ], "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A334BFWVFS4B41:3QAVNHZ3EO7IJ7T7A7FX1GP1F9HLAM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.09934, 3.11554, -2.15102 ], "start_rotation": [ 0, 0.60923, 0, 0.79299 ], "object_category": "sofa", "info": { "geodesic_distance": 6.36351, "euclidean_distance": 5.26557, "closest_goal_object_id": 898, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.93205, 3.11554, -0.93706 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "31eced24029c4dacad2bba2b1a2b7af9", "path": [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "0_edge_130_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3OLQQLKKNUSFEUMJNR56HK20VSGEJZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.90594, -0.68446, -18.84644 ], "start_rotation": [ 0, 0.63646, 0, -0.77131 ], "object_category": "bed", "info": { "geodesic_distance": 22.22409, "euclidean_distance": 20.11225, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.83205, 0.11554, -2.71714 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A314XJY8V1YL12:35DR22AR5FNDZGBBFB3BP26IF3R3XB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.19998, 0.11554, -8.56787 ], "start_rotation": [ 0, 0.99887, 0, -0.04761 ], "object_category": "bed", "info": { "geodesic_distance": 9.56393, "euclidean_distance": 5.83157, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.88455, 0.11554, -2.72329 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "6a57a23befa34262b84aa219156f1432", "path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2AAY4VT9L71SY:3ON104KXQMZJSCPP5KC8XOKHL3M4WE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.77554, 0.11554, -4.29423 ], "start_rotation": [ 0, 0.50823, 0, 0.86122 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.10901, "euclidean_distance": 9.80659, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.8872, 0.11554, -3.55623 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "7c41f500f2ce4b7a9916e292221a7740", "path": [ "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740" ], "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3VFJCI1K412UWW1N1R43JE93JX5GR7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.55837, -0.68446, -16.91655 ], "start_rotation": [ 0, 0.84993, 0, -0.52689 ], "object_category": "picture", "info": { "geodesic_distance": 8.06741, "euclidean_distance": 6.77562, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.54239, -0.68446, -11.40334 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "12_edge_486_newN_1", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "12_edge_486_newN_1", [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6" ] }, { "episode_id": "ALCPF5NANBDSZ:31QNSG6A5TW5LYBQ9FU9MK15U2387P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.39692, -0.68446, -11.24835 ], "start_rotation": [ 0, 0.99646, 0, -0.08409 ], "object_category": "seating", "info": { "geodesic_distance": 7.1495, "euclidean_distance": 6.62564, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.49338, 0.11554, -8.74135 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "0_edge_333_newN_1", "0_edge_333_newN_0", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_466_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d" ], "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", [ "7d91f15f7b2d4c18b45ece193eabb9a3" ], "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", [ "a406b9208ade4d0d859368e1ec14564f" ], "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3HFNH7HEMJHUKVMNOCF3EOZYM3PQGL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.29475, 3.11554, -7.66962 ], "start_rotation": [ 0, 0.59153, 0, -0.80628 ], "object_category": "cushion", "info": { "geodesic_distance": 15.20267, "euclidean_distance": 12.69284, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.73809, 3.11554, -0.6324 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "95c9fb86dcb14fcabab35769b14beb1e", "path": [ "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "0_edge_130_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42" ], "3014b8cf45664302bb24e76ba6aec69b", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", [ "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", [ "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3" ], "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", [ "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", [ "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e" ], "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A2CDM78GVCICO5:39ASUFLU6ZAG9ER84VK78TAF6S4EX0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.5375, -3.08446, -6.65109 ], "start_rotation": [ 0, 0.88168, 0, 0.47185 ], "object_category": "sofa", "info": { "geodesic_distance": 5.95625, "euclidean_distance": 2.91473, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.8853, -2.88446, -3.96808 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "10_edge_552_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", [ "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", [ "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ], "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A22VLXXVIEJSD1:3V0Z7YWSI03WA9AXBWOOI745UGJV2U", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.70777, 0.11554, -3.15214 ], "start_rotation": [ 0, 0.66094, 0, -0.75044 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.09446, "euclidean_distance": 6.7324, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.07975, 0.11554, -3.45847 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "29e0e9dd21db4b78bdea0ca885f8a744", "path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "AEWGY34WUIA32:3RJSC4XJ12X8G5S4QI2XVLHRJO1504", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -21.60369, -2.88446, -1.9977 ], "start_rotation": [ 0, 0.97068, 0, -0.24038 ], "object_category": "sofa", "info": { "geodesic_distance": 2.85904, "euclidean_distance": 2.30734, "closest_goal_object_id": 102, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.56193, -2.88446, -3.2913 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "AVASQBFN6J692:326O153BMK12B8MRDVJVEM7NQBTED1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.57088, -2.88446, -2.88454 ], "start_rotation": [ 0, 0.32825, 0, 0.94459 ], "object_category": "chair", "info": { "geodesic_distance": 26.362, "euclidean_distance": 21.89879, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.5655, -3.95569, -21.62034 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "7155aa5a514a444a858781ce73d1746d", "path": [ "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d" ], "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A1J3ON3YLGJAM6:3YZ8UPK3VVP9VCDZ3Z3PYYB8S06UCW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.98347, 0.11554, -1.05181 ], "start_rotation": [ 0, 0.98655, 0, 0.16348 ], "object_category": "stool", "info": { "geodesic_distance": 5.75031, "euclidean_distance": 5.45472, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.82923, 0.11554, 3.42145 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e" ], "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e" ], "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", [ "7a42af4caa814affbce3c5325c0eb181" ], "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37C0GNLMHH6YYTTC7D0X2YFA9B2D68", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.32777, -3.08446, -7.56442 ], "start_rotation": [ 0, 0.1542, 0, 0.98804 ], "object_category": "bed", "info": { "geodesic_distance": 6.73848, "euclidean_distance": 3.20516, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.45668, -3.88446, -9.95336 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0f0c966446e24bdc958349d0d9c3e09e", "path": [ "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", [ "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "AKYXQY5IP7S0Z:30MVJZJNHOGYJYV2FGPKP61P5119JY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.95923, 0.11554, 1.1272 ], "start_rotation": [ 0, 0.94697, 0, -0.32132 ], "object_category": "seating", "info": { "geodesic_distance": 3.36861, "euclidean_distance": 3.06478, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.97838, 0.11554, 1.13481 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_568_newN_0", "path": [ "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "0_edge_333_newN_1", "0_edge_333_newN_0", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_466_newN_0", "20352d61b4c14e2ab410046ab72d0849", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "a406b9208ade4d0d859368e1ec14564f", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", [ "a406b9208ade4d0d859368e1ec14564f" ], "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1" ], "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3NPI0JQDAQ8DPO7E8ZZLD2OD73MPTH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.95459, -3.08446, -5.77967 ], "start_rotation": [ 0, 0.30865, 0, 0.95118 ], "object_category": "table", "info": { "geodesic_distance": 1.89206, "euclidean_distance": 1.68391, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.37187, -3.08446, -6.50582 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "349df9d6cf9647a38ec403d5fcffb690", "path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3XXU1SWE8OY5MB4LLETE3WXDB4EA0V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.30956, 0.11554, 1.44863 ], "start_rotation": [ 0, 0.99212, 0, 0.12531 ], "object_category": "stool", "info": { "geodesic_distance": 12.60149, "euclidean_distance": 11.41555, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.94017, 0.11554, -8.54966 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0405db8320e24c3abb2f1e7c3ce52810", "path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "a406b9208ade4d0d859368e1ec14564f" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", [ "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", [ "5ef3c89e80bd44288091527d30458d16" ], "a406b9208ade4d0d859368e1ec14564f", [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] ] }, { "episode_id": "AZPZDX26SYMFY:3MD9PLUKKKH98F40YCBBV1KZSINNZB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.6267, 2.71631, -3.11097 ], "start_rotation": [ 0, 0.92193, 0, -0.38736 ], "object_category": "sink", "info": { "geodesic_distance": 5.95796, "euclidean_distance": 4.92346, "closest_goal_object_id": 741, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.55513, 3.11554, -6.22124 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "9c4bd27f6372466f904b6ce78045857d", "path": [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A1ATL3G98SFW4V:3R2UR8A0ICJ2L54XY9N3D54TAUSXO5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.70988, 0.11554, -1.17271 ], "start_rotation": [ 0, 0.98191, 0, -0.18933 ], "object_category": "stool", "info": { "geodesic_distance": 6.46884, "euclidean_distance": 5.99633, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.83261, 0.11554, 3.24841 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0_edge_245_newN_1", "path": [ "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1" ], "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1" ], "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A1P3HHEXWNLJMP:3OB0CAO74JSHTT8KZSEFCAE10DEHYB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.04347, -4.03104, -19.05635 ], "start_rotation": [ 0, 0.84722, 0, -0.53124 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.69417, "euclidean_distance": 14.29222, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.86623, -3.08446, -6.81783 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IAEQB9FMGNWS88IYVD10SENYHKDW7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.78529, -3.78291, -15.78526 ], "start_rotation": [ 0, 0.55877, 0, 0.82932 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 13.5242, "euclidean_distance": 9.53468, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.97372, -3.08446, -6.79082 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "0f0c966446e24bdc958349d0d9c3e09e", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "0f0c966446e24bdc958349d0d9c3e09e", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "0f0c966446e24bdc958349d0d9c3e09e", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A3TN1QCPUCJZBF:3V0Z7YWSI03WA9AXBWOOI745TDV2V6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.10442, -3.08446, -5.33879 ], "start_rotation": [ 0, 0.90915, 0, 0.41648 ], "object_category": "picture", "info": { "geodesic_distance": 5.41862, "euclidean_distance": 4.69179, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.01263, -3.01489, -3.33616 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", [ "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "09065b7df3804647b838b3decc672389", [ "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3L8LSM7V7KX3T:3NG53N1RLXMUR4FQ51OQM6SQUV38PO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.27481, 0.11554, -9.20508 ], "start_rotation": [ 0, 0.40421, 0, 0.91467 ], "object_category": "toilet", "info": { "geodesic_distance": 11.94874, "euclidean_distance": 11.35084, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.59335, 0.11554, 1.54094 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_355_newN_0", "path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A2TUUIV61CR0C7:3PWWM24LHU1YZXEK33DEQTKXIF982M", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.97613, -0.68446, -10.9335 ], "start_rotation": [ 0, 0.56056, 0, -0.82811 ], "object_category": "towel", "info": { "geodesic_distance": 28.43992, "euclidean_distance": 13.58704, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.46042, 0.11554, -0.33541 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:39GHHAVOMHUXMSPQYLTT8YQ9I18J4G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.07838, -2.88446, -4.31416 ], "start_rotation": [ 0, 0.00682, 0, -0.99998 ], "object_category": "chair", "info": { "geodesic_distance": 21.24431, "euclidean_distance": 18.66323, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.52531, -3.94639, -21.65389 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_435_newN_1", "path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AXAO7UJYYEFCO:3KGTPGBS6ZOWXULX66EJML2MGD2U24", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.70134, 3.11554, -7.12072 ], "start_rotation": [ 0, 0.45243, 0, -0.8918 ], "object_category": "shower", "info": { "geodesic_distance": 10.03518, "euclidean_distance": 8.06633, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.73485 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "5260f113c5f542a8b6b115cbdfc9fef5", "path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6f73ed74234145baac0b9b2854a95610", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", [ "95c9fb86dcb14fcabab35769b14beb1e" ], "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2TUUIV61CR0C7:3ATTHHXXWCRSPJTU0EAYT887ZRMXIG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.70864, -3.77578, -13.31128 ], "start_rotation": [ 0, 0.72201, 0, -0.69188 ], "object_category": "shower", "info": { "geodesic_distance": 10.22664, "euclidean_distance": 7.05569, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.82502, -3.88446, -18.16519 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3TN1QCPUCJZBF:3X87C8JFV8EXA0VEJC9K32I1BJRSQQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.68982, -0.68446, -17.60934 ], "start_rotation": [ 0, 0.98827, 0, -0.1527 ], "object_category": "plant", "info": { "geodesic_distance": 4.15216, "euclidean_distance": 4.15216, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.87594, -0.64499, -13.9504 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ] ] }, { "episode_id": "A28HB7240OFGEW:3UWN2HHPU08C73IM3KH3Z8NW6A9SNC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -0.19493, 3.11554, -4.40373 ], "start_rotation": [ 0, 0.95118, 0, 0.30865 ], "object_category": "seating", "info": { "geodesic_distance": 16.36031, "euclidean_distance": 11.70244, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.6923, 3.11554, -6.85972 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8" ], "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "ACM3TPZKLE7WC:39KFRKBFIPYRLAU73595WJB2CZROY5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.04752, -3.88446, -10.18026 ], "start_rotation": [ 0, 0.64164, 0, -0.767 ], "object_category": "sink", "info": { "geodesic_distance": 8.43602, "euclidean_distance": 6.05519, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.61354, -3.08446, -4.35059 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3AZHRG4CU6N52Q50CZE4GOJ76Y703J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.43831, 3.11554, 0.40026 ], "start_rotation": [ 0, 0.61305, 0, -0.79005 ], "object_category": "stool", "info": { "geodesic_distance": 16.39122, "euclidean_distance": 10.81203, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.92474, 3.11554, -2.40352 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "577717ce6ca248799fa9bcece8f9d32e", "path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab", [ "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] ] }, { "episode_id": "A3RR85PK3AV9TU:36NEMU28XHGZW2EVBOC4JI1H7V9MWV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.94431, -0.64818, -12.2708 ], "start_rotation": [ 0, 0.96321, 0, 0.26875 ], "object_category": "counter", "info": { "geodesic_distance": 8.31743, "euclidean_distance": 6.88356, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.82052, 0.11554, -9.02823 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_471_newN_0", "path": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0" ], "refined_path": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", [ "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1" ], "20352d61b4c14e2ab410046ab72d0849", [ "0_edge_355_newN_1" ], "0_edge_355_newN_0" ] }, { "episode_id": "A28U7B76HLCS1U:3WOKGM4L73JUOFYMVXYW4RHI1RLO0O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.61915, 0.11554, -8.84172 ], "start_rotation": [ 0, 0.02219, 0, 0.99975 ], "object_category": "seating", "info": { "geodesic_distance": 3.977, "euclidean_distance": 3.10699, "closest_goal_object_id": 304, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.07083, 0.11554, -6.07516 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "889965f33b0e46938abc58b97fda5aef", "path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "AW1QY7Q83DYCJ:3R8YZBNQ9JLBR2BMV9B98BM5N2W7QT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.14251, 0.11554, -8.96416 ], "start_rotation": [ 0, 0.82434, 0, 0.5661 ], "object_category": "sofa", "info": { "geodesic_distance": 2.4513, "euclidean_distance": 2.08163, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.82384, -0.55833, -10.89551 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_355_newN_0", "path": [ "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "0_edge_355_newN_1" ], "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3LKC68YZ3C6NW5Z7O4RHBMQM1QNOW0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.61057, 0.11554, 1.43043 ], "start_rotation": [ 0, 0.9978, 0, -0.06623 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.95441, "euclidean_distance": 4.67551, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.36752, 0.11554, -1.155 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_343_newN_0", "path": [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "AKYXQY5IP7S0Z:3907X2AHF28J5PD1PKFPCFFN7QB2P4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.0043, 3.11554, -4.24012 ], "start_rotation": [ 0, 0.24626, 0, -0.9692 ], "object_category": "counter", "info": { "geodesic_distance": 2.95443, "euclidean_distance": 1.65198, "closest_goal_object_id": 828, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.36636, 3.11554, -5.01465 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "fefbf5f40d364b0fb096d1d93aba4316", "path": [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", [ "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A1P3HHEXWNLJMP:3VHP9MDGRPNKCUG98A8QCYA5IIWCFU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.4635, -0.36268, 8.59927 ], "start_rotation": [ 0, 0.99897, 0, 0.04535 ], "object_category": "towel", "info": { "geodesic_distance": 17.78467, "euclidean_distance": 11.94536, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.47275, 0.11554, -0.35817 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "701293ca052c452c8454a11cf5f140f5", "path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3TVSS0C0E3339X4FKLDG5WW90ZMTWB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.29714, 0.11554, -4.49261 ], "start_rotation": [ 0, 0.87355, 0, -0.48674 ], "object_category": "plant", "info": { "geodesic_distance": 6.14484, "euclidean_distance": 5.54905, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.26429, 0.11554, -8.3384 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "eda4b648d33d436aa09516400af0de9b", "path": [ "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60" ], "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A75XDPFNICR3T:3TK8OJTYM3OS2GB3DUZ0EKCY5RUPVW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.45145, -3.08446, -5.82902 ], "start_rotation": [ 0, 0.7343, 0, -0.67882 ], "object_category": "sofa", "info": { "geodesic_distance": 4.61751, "euclidean_distance": 2.06117, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.88021, -2.88446, -3.95736 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A21ZK49H9LSSRY:3ATTHHXXWCRSPJTU0EAYT887ZOEIXN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.94005, 0.11554, 4.6646 ], "start_rotation": [ 0, 0.77426, 0, 0.63287 ], "object_category": "counter", "info": { "geodesic_distance": 3.41112, "euclidean_distance": 2.21874, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.21724, 0.11554, 2.72533 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "9a65ec8ec80d41a492cf617c83b15ec6", "path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A28AXX4NCWPH1F:36DSNE9QZ711QLZ8H582MWWEZWDOJ8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.70454, -3.93037, -16.03267 ], "start_rotation": [ 0, 0.84656, 0, -0.53229 ], "object_category": "toilet", "info": { "geodesic_distance": 17.42612, "euclidean_distance": 12.59838, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.79485, -3.08446, -5.48147 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", [ "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5" ], "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3JUPCWYN6N6H4:3YMU66OBIPBH72NK5MS95A7XVI0HGR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.60334, 0.11554, 2.405 ], "start_rotation": [ 0, 0.38433, 0, -0.92319 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.08561, "euclidean_distance": 6.03092, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.91888, 0.11554, -3.28293 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "c662afaab01a4c338d739c7600478db2", "path": [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_509_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", [ "c662afaab01a4c338d739c7600478db2" ], "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1" ] }, { "episode_id": "A1R0689JPSQ3OF:3IXQG4FA2V1S1FXQROC3RIICXXVB9K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.85789, 0.11554, -1.28671 ], "start_rotation": [ 0, 0.73005, 0, 0.68339 ], "object_category": "towel", "info": { "geodesic_distance": 9.79529, "euclidean_distance": 8.60528, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.43421, 0.11554, -0.38603 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "c8ce61375bc8403691ec503de5401235", "path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83" ], "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A3K1P4SPR8XS7R:3M68NM076JASZ3CHPEVH7NWEPI1R6D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.683, 0.11554, 2.93244 ], "start_rotation": [ 0, 0.99161, 0, -0.12929 ], "object_category": "sink", "info": { "geodesic_distance": 7.20797, "euclidean_distance": 4.15775, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.53842, 0.11554, 2.38196 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3AQF3RZ55ALVWD78YJVNQYIVMSOF60", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.6941, -3.08446, -5.87672 ], "start_rotation": [ 0, 0.03271, 0, -0.99946 ], "object_category": "shower", "info": { "geodesic_distance": 11.06907, "euclidean_distance": 9.77212, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.06296, -3.08446, -4.15566 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "AKYXQY5IP7S0Z:3II4UPYCOLAR8BCWMMEV83W1AHPDQR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.57917, -3.88446, -11.28368 ], "start_rotation": [ 0, 0.98943, 0, 0.14498 ], "object_category": "table", "info": { "geodesic_distance": 8.00923, "euclidean_distance": 7.24214, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.45089, -3.08446, -6.34187 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ] ] }, { "episode_id": "A33VGSEJ44ORMF:3TPZPLC3M2F8Q79KTKTUVPKFE81P31", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.68341, 0.31488, 7.75241 ], "start_rotation": [ 0, 0.5557, 0, 0.83138 ], "object_category": "toilet", "info": { "geodesic_distance": 16.76427, "euclidean_distance": 12.18052, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.73075, 0.11554, -0.51735 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A16K7X677N4WN6:3DY4FPOOA3RDETRIQM3PJFCD524VR1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.84184, -3.87227, -10.34834 ], "start_rotation": [ 0, 0.99297, 0, 0.11835 ], "object_category": "sofa", "info": { "geodesic_distance": 8.81201, "euclidean_distance": 8.2988, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.81473, -2.88446, -3.94577 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A334BFWVFS4B41:3A1COHJ8NLY2ENH2MOGLDXQZ852H83", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.18751, 0.11554, 8.28985 ], "start_rotation": [ 0, 0.62618, 0, -0.77968 ], "object_category": "picture", "info": { "geodesic_distance": 3.869, "euclidean_distance": 3.48731, "closest_goal_object_id": 426, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.43335, 0.11554, 5.68245 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "e91955faab2b4a60ac33f48771b21c54", "path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "24dbd843e0fe400baa0228c00158bb29", "0_edge_476_newN_0" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0" ], "refined_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", [ "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0" ] }, { "episode_id": "A3RYI5HXC2MJLN:3PW9OPU9PSNGOXUZ4I4ZBJXP5G812F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.13089, -3.88446, -10.56829 ], "start_rotation": [ 0, 0.78363, 0, -0.62123 ], "object_category": "table", "info": { "geodesic_distance": 7.08048, "euclidean_distance": 4.67992, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.3229, -3.08446, -6.35635 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "A3RR85PK3AV9TU:3FPRZHYEP0ALVR6GFW2T1H9XZOZV38", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.77457, -4.08446, -19.29308 ], "start_rotation": [ 0, 0.92824, 0, -0.37199 ], "object_category": "chair", "info": { "geodesic_distance": 4.78667, "euclidean_distance": 4.30828, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.3922, -3.94829, -21.58522 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A75XDPFNICR3T:39K0FND3AJI2PPBSAJGC1T4QE7HAM8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.4061, 0.11554, -1.39503 ], "start_rotation": [ 0, 0.14472, 0, -0.98947 ], "object_category": "sofa", "info": { "geodesic_distance": 10.68834, "euclidean_distance": 10.16005, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.88555, -0.57441, -11.00192 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_65_newN_0", "path": [ "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3YWRV122CU27J9NMMNNKWCFP2BP8UC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.4044, 2.51554, -12.61817 ], "start_rotation": [ 0, 0.92691, 0, 0.37528 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.39001, "euclidean_distance": 15.63951, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.27316, 3.11554, -2.31669 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "0_edge_148_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "6bd6fde111574af289492ba17859be83", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", [ "be542a5895594a1d98592023855f3a30" ], "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3WMINLGALD6PG3Z1XUMYYXZEKQDACK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.82892, 3.11554, -0.71056 ], "start_rotation": [ 0, 0.75467, 0, -0.6561 ], "object_category": "chair", "info": { "geodesic_distance": 10.15175, "euclidean_distance": 7.94273, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.0984, 3.11554, -1.60455 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_221_newN_1", "path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "refined_path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", [ "95c9fb86dcb14fcabab35769b14beb1e" ], "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ] }, { "episode_id": "A2MCG5W6LHSRG9:3DUZQ9U6SORPF8RV5B3U9PH9SBDVSU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.42555, 0.11554, -1.70385 ], "start_rotation": [ 0, 0.54816, 0, 0.83637 ], "object_category": "towel", "info": { "geodesic_distance": 10.38879, "euclidean_distance": 9.08956, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.44856, 0.11554, -0.44702 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "c8ce61375bc8403691ec503de5401235", "path": [ "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "0_edge_509_newN_1", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3K1P4SPR8XS7R:3FTYUGLFSWO2FPTY2UQSAS1AEMSD56", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.7097, -4.08446, -17.03111 ], "start_rotation": [ 0, 0.7799, 0, 0.6259 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 15.19488, "euclidean_distance": 10.5061, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.79958, -3.08446, -6.77317 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "ACM3TPZKLE7WC:3137ONMDKI85NSWIFLK3K7AK32OGEQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.27865, 3.11554, -7.44773 ], "start_rotation": [ 0, 0.73387, 0, 0.67929 ], "object_category": "bed", "info": { "geodesic_distance": 8.09732, "euclidean_distance": 7.23406, "closest_goal_object_id": 956, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.70669, 2.68163, -10.25962 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "ACM3TPZKLE7WC:3IXEICO794M5FIP9T30C72XWCY8T6R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.61627, 0.11554, -5.31117 ], "start_rotation": [ 0, 0.03312, 0, -0.99945 ], "object_category": "stool", "info": { "geodesic_distance": 5.24475, "euclidean_distance": 4.62734, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.93845, 0.11554, -8.47763 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2" ], "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A3RR85PK3AV9TU:32VNZTT0A97EKG836Q22APC0SK94R4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.30557, 0.11554, 6.83548 ], "start_rotation": [ 0, 0.21842, 0, 0.97585 ], "object_category": "cushion", "info": { "geodesic_distance": 12.27899, "euclidean_distance": 7.33913, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.14735, 0.11554, 1.13225 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "10a315d020ac47408b86212a7e258279", "path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3RANCT1ZVHKQL7LTPZ7UNE5QAFZUBI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.46131, 2.51554, -13.52961 ], "start_rotation": [ 0, 0.66038, 0, -0.75093 ], "object_category": "bathtub", "info": { "geodesic_distance": 19.7393, "euclidean_distance": 16.94804, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.31703, 3.11554, -2.40776 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_289_newN_0", "path": [ "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "5ebe5e4ed7384814bde7bdf5aad27e8f", "0_edge_262_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", [ "9aab8934d33545f8a0559acbe1a69da3" ], "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50" ], "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3RR85PK3AV9TU:3E1QT0TDFRC2AISMS6Y6D9RE78X8II", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.52338, -4.08446, -20.06008 ], "start_rotation": [ 0, 0.59435, 0, -0.80421 ], "object_category": "chair", "info": { "geodesic_distance": 2.88048, "euclidean_distance": 2.46401, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.32382, -3.90722, -21.78118 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01" ], "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AZPZDX26SYMFY:3TXD01ZLD6K6080KAKX7F0ZKZHCU4T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.85324, -3.87362, -13.07782 ], "start_rotation": [ 0, 0.99603, 0, 0.08905 ], "object_category": "sofa", "info": { "geodesic_distance": 9.80749, "euclidean_distance": 8.98844, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.11661, -3.88446, -20.80871 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "ALCPF5NANBDSZ:3Z7ISHFUH2YO58HWSAMSD4U44UOZ8E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.74045, 0.11554, 0.45787 ], "start_rotation": [ 0, 0.99808, 0, 0.062 ], "object_category": "towel", "info": { "geodesic_distance": 19.81791, "euclidean_distance": 16.68463, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.43933, 0.11554, -0.34353 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "2fb14459ed8d496fae1ea1683a23493b", "path": [ "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3HYA4D452TM7ECO7BHJK0L1J5KPF2F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.95161, -3.89547, -14.31672 ], "start_rotation": [ 0, 0.29006, 0, -0.95701 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.78793, "euclidean_distance": 11.8653, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.97956, -3.08446, -6.85992 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A1198W1SPF1R4:3GGAI1SQEX1QI48QUXC37OUEFI7CMY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.70037, -0.68446, -13.53728 ], "start_rotation": [ 0, 0.95602, 0, -0.29331 ], "object_category": "bed", "info": { "geodesic_distance": 16.10854, "euclidean_distance": 13.96066, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.98015, 0.11554, -2.71389 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_609_newN_0", "path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "AXAO7UJYYEFCO:3DH6GAKTY0S3KE8E5EKMCHI6XACZYF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.09086, -2.88446, -4.25805 ], "start_rotation": [ 0, 0.5427, 0, 0.83993 ], "object_category": "shower", "info": { "geodesic_distance": 10.16184, "euclidean_distance": 8.03947, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.17727, -3.08446, -4.29574 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "1d6750beee5c4d52aa62ff238cb0896d", "path": [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ], "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "AJQGWGESKQT4Y:35GCEFQ6I7R24BBQGTRWMNMTO8Q3ZK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.10178, -3.75478, -13.54073 ], "start_rotation": [ 0, 0.87179, 0, -0.48988 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 11.12251, "euclidean_distance": 8.04583, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.88472, -3.08446, -6.84271 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:3HMVI3QICLV6PIN6X3BUKNYUJNN1YZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.58743, -0.68446, -21.55823 ], "start_rotation": [ 0, 0.07456, 0, 0.99722 ], "object_category": "bed", "info": { "geodesic_distance": 21.82087, "euclidean_distance": 19.98892, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.9964, 0.11554, -2.67095 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "d1081f33c992439a9d4ed420cddc5ff9", "path": [ "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", [ "d1081f33c992439a9d4ed420cddc5ff9" ], "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A2GQH4SWIOFH2L:3WQQ9FUS6CXSNAEGMW6PRMN1DPTB87", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.82423, 0.11554, -0.53657 ], "start_rotation": [ 0, 0.61824, 0, 0.78599 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.33686, "euclidean_distance": 7.83561, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.53272, 0.11554, -6.01311 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "4f0a87d560244c2f926f2110e9dfc1e4", "path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821" ] }, { "episode_id": "A1P3HHEXWNLJMP:3LKC68YZ3C6NW5Z7O4RHBMQM1QVOW8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.82654, -3.08446, -5.84081 ], "start_rotation": [ 0, 0.99843, 0, -0.05603 ], "object_category": "shower", "info": { "geodesic_distance": 11.20423, "euclidean_distance": 9.89705, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.13123, -3.08446, -4.33355 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", [ "ad24c52938c34a25b7a7c694d4769f30" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2TUUIV61CR0C7:3M23Y66PO4A40ICU43VMXX1AAFHS6O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.71464, 3.11554, -6.94627 ], "start_rotation": [ 0, 0.79408, 0, -0.60781 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.3609, "euclidean_distance": 3.03267, "closest_goal_object_id": 969, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.99707, 2.72161, -10.01672 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "6dbb762da390463f83fc26b02e723259", "path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ] }, { "episode_id": "AOMFEAWQHU3D8:3IAS3U3I0HJH1VCR6FXOHVAYQMY2BL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.64041, 0.11554, 4.29022 ], "start_rotation": [ 0, 0.68393, 0, -0.72955 ], "object_category": "plant", "info": { "geodesic_distance": 8.8255, "euclidean_distance": 6.40246, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.29941, 0.11554, -1.58687 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "4ad4f9b025b441aab57a1eba3bd1c2c4", "path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_0", "0_edge_469_newN_1" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1" ], "refined_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", [ "f873b983498b4e18bb5acfade836f2cf" ], "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", [ "0_edge_333_newN_1" ], "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3KOPY89HMA5C4W6MY7OAYTY35AJ3J5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.24987, 0.11554, -0.2132 ], "start_rotation": [ 0, 0.79558, 0, -0.60585 ], "object_category": "stool", "info": { "geodesic_distance": 10.01493, "euclidean_distance": 8.67243, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.07108, 0.11554, -8.41142 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ] }, { "episode_id": "A2TUUIV61CR0C7:36WLNQG781D9WBO7ZZSPJWJNOV0EBO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.19477, -2.92268, -3.04934 ], "start_rotation": [ 0, 0.36276, 0, -0.93188 ], "object_category": "cushion", "info": { "geodesic_distance": 6.49188, "euclidean_distance": 5.75785, "closest_goal_object_id": 87, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.00313, -2.88446, -2.52338 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "6c8219cd4bf549b8a0bf58ba7b0f61e4", "path": [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3U4J9857OGEONW9XCREJDMR612W7BI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.45816, -4.08446, -18.81819 ], "start_rotation": [ 0, 0.9045, 0, -0.42648 ], "object_category": "sink", "info": { "geodesic_distance": 17.30222, "euclidean_distance": 14.58707, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.75266, -3.08446, -4.27031 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AW1QY7Q83DYCJ:33FOTY3KEOOTMFM11BT5NW6BH6SC14", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.96465, -0.68446, -11.3711 ], "start_rotation": [ 0, 0.91357, 0, 0.40668 ], "object_category": "toilet", "info": { "geodesic_distance": 17.47822, "euclidean_distance": 14.86769, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.59581, 0.11554, 1.55866 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A1P3HHEXWNLJMP:3RU7GD8VPQWCAOUZJZUV3XSR5GNSP2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -21.45669, -2.88446, -2.33214 ], "start_rotation": [ 0, 0.36712, 0, -0.93017 ], "object_category": "chair", "info": { "geodesic_distance": 27.25975, "euclidean_distance": 22.82786, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.57941, -3.92471, -21.8078 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_357_newN_0", "path": [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AIIOT9A7ARQZW:3QIYRE09Y5KCDJJSQ12J370NF6C1N8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.59494, -2.90554, -7.79957 ], "start_rotation": [ 0, 0.92027, 0, -0.39127 ], "object_category": "chair", "info": { "geodesic_distance": 20.89783, "euclidean_distance": 14.81625, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.48544, -3.91718, -21.7971 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "372d9c5a8d394815a470573708b4f8cd", "path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", [ "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A12H9WVHOB0E0O:3E7TUJ2EGEPLGCVA5K39M86CZCZD98", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.07944, -3.88446, -19.05886 ], "start_rotation": [ 0, 0.99876, 0, -0.0498 ], "object_category": "picture", "info": { "geodesic_distance": 20.79637, "euclidean_distance": 16.13177, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.03295, -3.01063, -3.30423 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A16K7X677N4WN6:3TEM0PF1Q703KI7X5OKGTX5JW8M0D0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.78039, -3.08446, -8.9245 ], "start_rotation": [ 0, 0.66746, 0, -0.74465 ], "object_category": "sofa", "info": { "geodesic_distance": 6.74089, "euclidean_distance": 5.22261, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.88736, -2.88446, -3.9416 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "b3fb49d922374aaf81242f21d39d214d", "path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", [ "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A33VGSEJ44ORMF:3I3WADAZ9S7TJMKNS348LMD9I1K5OI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.51849, 2.51554, -12.12705 ], "start_rotation": [ 0, 0.53216, 0, 0.84665 ], "object_category": "towel", "info": { "geodesic_distance": 6.65234, "euclidean_distance": 5.9365, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.21171, 3.11554, -7.52527 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "54507d559ab2427982e8021989d48e50", "path": [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3L8LSM7V7KX3T:3HL8HNGX474IEW96WQYZA89XBONF9R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.44722, 3.11554, -2.16771 ], "start_rotation": [ 0, 0.46871, 0, 0.88335 ], "object_category": "stool", "info": { "geodesic_distance": 10.30608, "euclidean_distance": 8.45421, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.00851, 3.11554, -2.449 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "81829ab350054bf297a7ebbb1eb4fcee", "path": [ "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "3014b8cf45664302bb24e76ba6aec69b", "6dbb762da390463f83fc26b02e723259", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42" ], "3014b8cf45664302bb24e76ba6aec69b", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3VSOLARPKDCNYKTDCVXX9ZK08YH395", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.81087, 0.11554, 4.53581 ], "start_rotation": [ 0, 0.10843, 0, 0.9941 ], "object_category": "table", "info": { "geodesic_distance": 9.63021, "euclidean_distance": 7.48197, "closest_goal_object_id": 628, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.88622, 0.11554, -2.30392 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "4ad4f9b025b441aab57a1eba3bd1c2c4", "path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1" ], "refined_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1" ] }, { "episode_id": "AIIOT9A7ARQZW:3HWRJOOET758DX59ALEK9LTNREQESI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.27575, -3.72624, -15.09556 ], "start_rotation": [ 0, 0.18336, 0, 0.98305 ], "object_category": "chair", "info": { "geodesic_distance": 7.73699, "euclidean_distance": 6.69902, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.61687, -3.9587, -21.62623 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A1ATL3G98SFW4V:392CY0QWG3U1RH5KG38TWXB96VEI4H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.9516, 0.11554, 8.12821 ], "start_rotation": [ 0, 0.97568, 0, -0.2192 ], "object_category": "counter", "info": { "geodesic_distance": 6.2751, "euclidean_distance": 5.38599, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.18881, 0.11554, 2.74753 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "e91955faab2b4a60ac33f48771b21c54", "path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AJQGWGESKQT4Y:3YHH42UU5DIMIUVPI5I4CADO6K90L8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.98453, -0.68446, -20.9834 ], "start_rotation": [ 0, 0.9708, 0, 0.23987 ], "object_category": "plant", "info": { "geodesic_distance": 5.7207, "euclidean_distance": 4.59453, "closest_goal_object_id": 227, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.24076, -0.68446, -16.44896 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "52b3a84808ca4666982de6fbf6324acf", "path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "refined_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf" ], "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ] }, { "episode_id": "AVASQBFN6J692:3UN61F00HYSWGZC3KVLCFHIESI5R51", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.69591, -2.92157, -8.47943 ], "start_rotation": [ 0, 0.98107, 0, -0.19367 ], "object_category": "sink", "info": { "geodesic_distance": 5.04511, "euclidean_distance": 4.59697, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.71445, -3.08446, -4.28277 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "f40e599480664537833ee44fea373731", "path": [ "f40e599480664537833ee44fea373731", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "f40e599480664537833ee44fea373731", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "f40e599480664537833ee44fea373731", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A16K7X677N4WN6:3KAKFY4PGW5G9LMGGP3AMSJ3ROUI3T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.22253, 3.11554, -8.44416 ], "start_rotation": [ 0, 0.97903, 0, 0.20371 ], "object_category": "picture", "info": { "geodesic_distance": 7.68298, "euclidean_distance": 6.85997, "closest_goal_object_id": 806, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.50096, 3.11554, -1.61793 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "ee51e32e785e4649ae13c9152ec68893", "path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0" ], "refined_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5" ], "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0" ] }, { "episode_id": "A2AAY4VT9L71SY:3II4UPYCOLAR8BCWMMEV83W1AG0DQ0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.89989, 0.11554, -8.73342 ], "start_rotation": [ 0, 0.73366, 0, -0.67952 ], "object_category": "shower", "info": { "geodesic_distance": 15.27068, "euclidean_distance": 12.72661, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.71648, 0.11554, 3.99089 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "6a57a23befa34262b84aa219156f1432", "path": [ "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "dfb6d728749e4dbb9116902a8f2dd6eb", "c662afaab01a4c338d739c7600478db2", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3RR85PK3AV9TU:3DH6GAKTY0S3KE8E5EKMCHI6W0SYZ9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.63698, -3.08446, -7.05854 ], "start_rotation": [ 0, 0.65365, 0, -0.7568 ], "object_category": "chair", "info": { "geodesic_distance": 18.75182, "euclidean_distance": 14.98578, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.59824, -3.95291, -21.64995 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_482_newN_0", "path": [ "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A5WWHKD82I8UE:3QRYMNZ7F0KDM3V1SKMT9DJI8T8TNN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.84647, -3.93197, -15.65106 ], "start_rotation": [ 0, 0.46531, 0, 0.88515 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.30326, "euclidean_distance": 13.41369, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.91817, -3.08446, -6.76819 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2AAY4VT9L71SY:34J10VATJH18GMSIE0F6Z0CE2LIIQH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.98389, -0.68446, -21.18794 ], "start_rotation": [ 0, 0.97369, 0, -0.22786 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.71788, "euclidean_distance": 10.49077, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.49062, -0.68446, -11.10727 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "f924e8567e4a4a31bd456348ad343f9b", "path": [ "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3LPW2N6LKV5OWR4KOPGHKS5Y0LX5UG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.35896, -0.59195, -13.34863 ], "start_rotation": [ 0, 0.36001, 0, 0.93295 ], "object_category": "table", "info": { "geodesic_distance": 2.78655, "euclidean_distance": 2.45714, "closest_goal_object_id": 213, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.18737, -0.59586, -12.12562 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0_edge_609_newN_0", "path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ], "refined_path": [ "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "episode_id": "AOMFEAWQHU3D8:37C0GNLMHH6YYTTC7D0X2YFAAEJ6DP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.89734, -0.68446, -15.9881 ], "start_rotation": [ 0, 0.95584, 0, 0.29389 ], "object_category": "toilet", "info": { "geodesic_distance": 23.97086, "euclidean_distance": 20.32621, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.61018, 0.11554, 1.64591 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A2MCG5W6LHSRG9:33F859I568GLGLF9P00V4ZG0F1CBH0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.76861, 0.11554, -1.50528 ], "start_rotation": [ 0, 0.237, 0, 0.97151 ], "object_category": "chair", "info": { "geodesic_distance": 8.54043, "euclidean_distance": 4.51044, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.50916, 0.11554, 2.94675 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "7a939072217043dfa0af4d1206ab3c86", "path": [ "7a939072217043dfa0af4d1206ab3c86", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "7a939072217043dfa0af4d1206ab3c86", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00" ], "refined_path": [ "7a939072217043dfa0af4d1206ab3c86", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", [ "8c874344710140e681d78c046d471afc" ], "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "20352d61b4c14e2ab410046ab72d0849" ], "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "episode_id": "A16K7X677N4WN6:3D4CH1LGECWOSW517A4HST99C0N9GE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.95851, -3.84188, -12.18042 ], "start_rotation": [ 0, 0.98475, 0, -0.17395 ], "object_category": "chair", "info": { "geodesic_distance": 10.72763, "euclidean_distance": 9.87831, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.5627, -3.94874, -21.65734 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "4d53b2df82b3494a80822eba94c31f2f", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "aa00867860b84d36aa756d2dd29fbf5e", "b634b67520bf4c579f044a8e433b021d", "10_edge_552_newN_0", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ], "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f" ], "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A16K7X677N4WN6:3LS2AMNW5HTIC83LCVSBJX80DN7OQT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.73248, 0.11554, -7.34762 ], "start_rotation": [ 0, 0.99972, 0, 0.02366 ], "object_category": "sofa", "info": { "geodesic_distance": 8.97728, "euclidean_distance": 7.84816, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.01456, 0.11554, 0.5575 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_152_newN_0", "path": [ "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ], "refined_path": [ "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:33PPUNGG3A8UNDWSRJSS4LP9UM8ZRM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.3178, 0.11554, 6.98401 ], "start_rotation": [ 0, 0.99394, 0, 0.10993 ], "object_category": "stool", "info": { "geodesic_distance": 14.66731, "euclidean_distance": 6.56357, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.87026, 0.11554, 3.66133 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "10a315d020ac47408b86212a7e258279", "path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "refined_path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ] }, { "episode_id": "A3T5UAYFKJBVTA:3U4J9857OGEONW9XCREJDMR61YI7BW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.69463, 0.11554, -2.79905 ], "start_rotation": [ 0, 0.76982, 0, -0.63826 ], "object_category": "chair", "info": { "geodesic_distance": 3.85799, "euclidean_distance": 3.60749, "closest_goal_object_id": 303, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.62003, 0.11554, -5.67156 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A1P3HHEXWNLJMP:3WYP994K19U1W4O339NBFJPBRWXY6K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.31425, -4.08446, -18.25215 ], "start_rotation": [ 0, 0.09739, 0, 0.99525 ], "object_category": "chair", "info": { "geodesic_distance": 4.85805, "euclidean_distance": 4.60686, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.3352, -3.92563, -21.68489 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A3L8LSM7V7KX3T:33JKGHPFYEX9985HJNLHNZOQDEAMNY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.94965, 0.11554, -1.04971 ], "start_rotation": [ 0, 0.86095, 0, -0.50869 ], "object_category": "sink", "info": { "geodesic_distance": 4.05887, "euclidean_distance": 3.45407, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.59506, 0.11554, 2.4789 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3QIYRE09Y5KCDJJSQ12J370NF16N1E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.84975, 3.11554, -7.3302 ], "start_rotation": [ 0, 0.61653, 0, -0.78733 ], "object_category": "sofa", "info": { "geodesic_distance": 10.34503, "euclidean_distance": 9.04567, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.96206, 2.51554, -12.94094 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_130_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", [ "95c9fb86dcb14fcabab35769b14beb1e" ], "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3WAKVUDHUYJ3JVI3CIVEICJURPF7UG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.96123, 0.13802, 6.28933 ], "start_rotation": [ 0, 0.99228, 0, -0.12406 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.43703, "euclidean_distance": 9.3533, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.46644, 0.11554, -2.95476 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ] }, { "episode_id": "AXAO7UJYYEFCO:3PQMUDRV7T9VZO4Z1SAXQYLSBAXII8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.53021, -3.88446, -19.27996 ], "start_rotation": [ 0, 0.62567, 0, 0.78009 ], "object_category": "cushion", "info": { "geodesic_distance": 18.286, "euclidean_distance": 14.77927, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.5815, -3.08446, -6.41706 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:3A1COHJ8NLY2ENH2MOGLDXQZ85SH8T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.65258, -3.97239, -14.67285 ], "start_rotation": [ 0, 0.57798, 0, -0.81605 ], "object_category": "cushion", "info": { "geodesic_distance": 19.0053, "euclidean_distance": 11.70853, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.552, -3.08446, -6.46953 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_88_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A2L26DMSVUEDP6:3XIQGXAUMEBV0ZCYHN612JIYL9WX72", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.89979, 0.11554, -6.12644 ], "start_rotation": [ 0, 0.39277, 0, -0.91964 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.1881, "euclidean_distance": 9.24524, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.59707, -0.39159, -10.1567 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "A2TUUIV61CR0C7:36W0OB37HYHHYJIPVEGYQHN366GZHG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.0764, -0.59372, -13.59142 ], "start_rotation": [ 0, 0.91388, 0, -0.40599 ], "object_category": "bathtub", "info": { "geodesic_distance": 17.16131, "euclidean_distance": 16.14532, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.49938, 0.11554, 1.57599 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_469_newN_1", "path": [ "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "ACM3TPZKLE7WC:3G5F9DBFOR00PZDFUHRV5BA7J1NHVO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.24562, 2.51554, -11.75322 ], "start_rotation": [ 0, 0.49018, 0, 0.87162 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.47305, "euclidean_distance": 4.28878, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.33014, 2.51554, -10.2291 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "ef98e16224ae4151a0f5e69ec03916f7", "path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "refined_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1" ], "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ] }, { "episode_id": "ACM3TPZKLE7WC:3C6FJU71TSWMYFE4ZRLEVP3RULFYUS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.30799, 2.87236, -10.04813 ], "start_rotation": [ 0, 0.99802, 0, 0.0629 ], "object_category": "toilet", "info": { "geodesic_distance": 3.07623, "euclidean_distance": 2.60808, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.26041, 3.11554, -7.50032 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "e8f67d7392804d5e9284c74c2a5d926b", "path": [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "cf0febb3e6eb495daa0ef1ba776548ac" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac" ], "refined_path": [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac" ] }, { "episode_id": "A272X64FOZFYLB:3JV9LGBJWVHRZJ979ZNZPJ4Y74POGX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.73085, -4.0069, -17.85053 ], "start_rotation": [ 0, 0.99158, 0, -0.12952 ], "object_category": "cabinet", "info": { "geodesic_distance": 17.16859, "euclidean_distance": 14.03218, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.62627, -3.08446, -4.79553 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A28U7B76HLCS1U:3R6BYFZZP9F8FSR4Z64DQBVFIR6FX2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.06615, -4.05786, -14.98279 ], "start_rotation": [ 0, 0.99057, 0, -0.13702 ], "object_category": "cushion", "info": { "geodesic_distance": 19.98951, "euclidean_distance": 12.94266, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.59249, -3.08446, -6.37047 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3IKZ72A5B6J33YD0X0H4S94HGBPFN7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.54598, 0.11554, -6.35725 ], "start_rotation": [ 0, 0.88334, 0, -0.46872 ], "object_category": "sofa", "info": { "geodesic_distance": 7.90233, "euclidean_distance": 5.88339, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.72339, -0.56764, -10.86119 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "1495db5760cf415299116892de94695a", "path": [ "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ], "refined_path": [ "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1" ] }, { "episode_id": "A33VGSEJ44ORMF:3R0T90IZ1UFQQUC4JUE8UJAHIM0GCE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.44538, 0.11554, -4.05319 ], "start_rotation": [ 0, 0.13126, 0, 0.99135 ], "object_category": "chair", "info": { "geodesic_distance": 9.4286, "euclidean_distance": 7.3184, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.54199, 0.11554, 2.88629 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "7a381be117474e159e339b7bcce0baf3", "path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7" ], "refined_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7" ] }, { "episode_id": "A16K7X677N4WN6:3SB5N7Y3O576W2HO7ELOZI8G9XBG0T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.64175, 3.11554, -5.88369 ], "start_rotation": [ 0, 0.62969, 0, -0.77685 ], "object_category": "chair", "info": { "geodesic_distance": 5.37426, "euclidean_distance": 4.98992, "closest_goal_object_id": 960, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.9925, 2.92998, -9.52547 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_215_newN_0", "path": [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "refined_path": [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "episode_id": "A3O5RKGH6VB19C:3OLQQLKKNUSFEUMJNR56HK20VTREJC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.94607, 0.11554, -8.96517 ], "start_rotation": [ 0, 0.42802, 0, -0.90377 ], "object_category": "toilet", "info": { "geodesic_distance": 13.89451, "euclidean_distance": 12.25389, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.70294, 0.11554, 1.6569 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "eaa924cd93794010a866d09389edd172", "path": [ "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810" ] ] }, { "episode_id": "A2ZZW6KME1FUDU:3NVC2EB65S22ZL1LK7PD8GDRH4UY3B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.56625, 0.11554, 0.65754 ], "start_rotation": [ 0, 0.18242, 0, 0.98322 ], "object_category": "chair", "info": { "geodesic_distance": 3.3314, "euclidean_distance": 2.99799, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.51508, 0.11554, 3.45885 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "34276b7c9d6e491885f36dd1d286e477", "path": [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ], "refined_path": [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ] }, { "episode_id": "A3K1P4SPR8XS7R:3SKEMFQBZ58TGDIAS9JIQP6R0KZ8KN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.70666, -3.93096, -17.4972 ], "start_rotation": [ 0, 0.10391, 0, 0.99459 ], "object_category": "picture", "info": { "geodesic_distance": 15.58579, "euclidean_distance": 14.30755, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.92066, -2.97499, -3.17055 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3L8LSM7V7KX3T:3C5W7UE9CHTEL2JLLT8QL1FOFSEMXC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.56557, -3.88446, -11.89426 ], "start_rotation": [ 0, 0.46699, 0, 0.88426 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 9.99793, "euclidean_distance": 5.87857, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.96965, -3.08446, -6.83317 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "b634b67520bf4c579f044a8e433b021d", "path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "refined_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3ZAZR5XV03LQHB799M2XFQQNUJOZCV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.51637, 0.11554, 1.26565 ], "start_rotation": [ 0, 0.99823, 0, -0.05944 ], "object_category": "stool", "info": { "geodesic_distance": 9.16507, "euclidean_distance": 7.76424, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.76268, 0.11554, 3.54827 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "path": [ "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_520_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A16K7X677N4WN6:3M81GAB8A2MYTEEC8QNPDD816OCBQ0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.20248, -3.81262, -12.55564 ], "start_rotation": [ 0, 0.77775, 0, 0.62858 ], "object_category": "chair", "info": { "geodesic_distance": 9.95661, "euclidean_distance": 9.34839, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.53187, -3.93417, -21.72396 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "38808050304946dfb262966b02c6ae4e", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1", [ "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A2MCG5W6LHSRG9:3CP1TO84PV4FCFVI556BE9A6HWH525", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.06993, 2.51554, -12.1761 ], "start_rotation": [ 0, 0.69732, 0, -0.71676 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.55589, "euclidean_distance": 2.90702, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.3267, 2.51554, -10.28083 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_112_newN_1", "path": [ "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "refined_path": [ "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ] }, { "episode_id": "A2AAY4VT9L71SY:3GD6L00D3U06V1YSE0NJQSBNAD01M0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.52365, 2.58251, -14.34994 ], "start_rotation": [ 0, 0.73562, 0, -0.67739 ], "object_category": "counter", "info": { "geodesic_distance": 10.95226, "euclidean_distance": 10.33098, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.22446, 3.11554, -6.69539 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "9aab8934d33545f8a0559acbe1a69da3", "path": [ "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "86d651b81a7c41c4a78b902b43fac9d0", "0_edge_289_newN_0", "0_edge_313_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "0_edge_133_newN_0", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "0_edge_313_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9" ], "refined_path": [ "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", [ "9aab8934d33545f8a0559acbe1a69da3" ], "86d651b81a7c41c4a78b902b43fac9d0", [ "9aab8934d33545f8a0559acbe1a69da3" ], "0_edge_289_newN_0", [ "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0" ], "0_edge_313_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", [ "ef98e16224ae4151a0f5e69ec03916f7" ], "0_edge_133_newN_0", [ "be542a5895594a1d98592023855f3a30" ], "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", [ "95c9fb86dcb14fcabab35769b14beb1e" ], "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9" ] ] }, { "episode_id": "A3RR85PK3AV9TU:3U0SRXB7CF806OI9OVHY9YI0J2LNR1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.10783, -3.96942, -15.88227 ], "start_rotation": [ 0, 0.99263, 0, -0.12122 ], "object_category": "table", "info": { "geodesic_distance": 15.99617, "euclidean_distance": 11.19561, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.46687, -3.08446, -6.33619 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:320DUZ38G9PDY8IATMVUHNNC9CKJGJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.98979, -3.90381, -17.13085 ], "start_rotation": [ 0, 0.98937, 0, -0.14541 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.5875, "euclidean_distance": 13.22144, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.8219, -3.08446, -6.72278 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1" ] }, { "episode_id": "A28U7B76HLCS1U:34QN5IT0T1UR3NB6OG9075RILHI80V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.2943, -2.88446, -4.42436 ], "start_rotation": [ 0, 0.49565, 0, 0.86852 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 14.36266, "euclidean_distance": 13.63524, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.0285, -3.06012, -6.78767 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "51d499bdd9794c669f6e8eeb4ab54052", "path": [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A1P3HHEXWNLJMP:3II4UPYCOLAR8BCWMMEV83W199ZDQK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.6271, 0.11554, -6.09678 ], "start_rotation": [ 0, 0.99895, 0, -0.04581 ], "object_category": "sofa", "info": { "geodesic_distance": 11.72108, "euclidean_distance": 7.99812, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.14045, 0.11554, 0.49361 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "ebf438da4aff44d595b414b9ccd023ac", "path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "refined_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:388U7OUMF94XLSQ2NPF0YMMNCCUR0L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.909, 0.11554, 1.75588 ], "start_rotation": [ 0, 0.68111, 0, -0.73218 ], "object_category": "cushion", "info": { "geodesic_distance": 4.71406, "euclidean_distance": 4.25412, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.16106, 0.11554, 1.22119 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:3OUYGIZWR91C9FANAXBBTRM8AR8P0M", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.94614, -4.08446, -19.81157 ], "start_rotation": [ 0, 0.93192, 0, -0.36266 ], "object_category": "table", "info": { "geodesic_distance": 16.42737, "euclidean_distance": 13.55521, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.4447, -3.08446, -6.42132 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944" ], "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A35CL66BEUSJ5Z:3P4RDNWND79RUZO5JAVX2Z0SOS8IJC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.60257, -3.08446, -4.6912 ], "start_rotation": [ 0, 0.33308, 0, 0.9429 ], "object_category": "sofa", "info": { "geodesic_distance": 9.47309, "euclidean_distance": 7.32241, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.87563, -2.88446, -3.83573 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "38808050304946dfb262966b02c6ae4e", "path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", [ "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3DHE4R9OCYEDSCK2M1P2I61V6V1G2J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.64976, -4.08446, -15.84172 ], "start_rotation": [ 0, 0.42992, 0, 0.90287 ], "object_category": "sofa", "info": { "geodesic_distance": 7.88003, "euclidean_distance": 6.01615, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.20295, -3.88446, -20.60772 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3JJVG1YBED090SVEOYZMF2DAAVL5BJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.96199, -4.01415, -19.24598 ], "start_rotation": [ 0, 0.79303, 0, 0.60918 ], "object_category": "cushion", "info": { "geodesic_distance": 17.11635, "euclidean_distance": 14.08057, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.47389, -3.08446, -6.29383 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3H32595TVJ34Q:3KB8R4ZV1GA7GPKY5UIDJZ4Z1AIBG3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.5236, 3.11554, -3.49385 ], "start_rotation": [ 0, 0.79004, 0, -0.61306 ], "object_category": "bed", "info": { "geodesic_distance": 5.20753, "euclidean_distance": 4.35973, "closest_goal_object_id": 761, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.50105, 3.11554, -1.76689 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_439_newN_0", "path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", [ "ba9458d357074f62bee47dd2e5556854" ] ] }, { "episode_id": "A3RR85PK3AV9TU:3FQ5JJ512NREJK5EYB818MWMO6KNKT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.33294, 0.11554, -4.22271 ], "start_rotation": [ 0, 0.54446, 0, 0.83879 ], "object_category": "chair", "info": { "geodesic_distance": 7.75941, "euclidean_distance": 7.21995, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.59519, 0.11554, 2.85232 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "eda4b648d33d436aa09516400af0de9b", "path": [ "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0" ] }, { "episode_id": "A3NFGEUZAH9V5G:35K3O9HUADGZ9S0N41EL2MA83TKEFY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.63385, -3.88446, -10.29016 ], "start_rotation": [ 0, 0.50161, 0, -0.86509 ], "object_category": "cushion", "info": { "geodesic_distance": 7.23709, "euclidean_distance": 4.22689, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.4553, -3.08446, -6.31924 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A28AXX4NCWPH1F:35K3O9HUADGZ9S0N41EL2MA82NKFEM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.73586, 0.11554, 3.78436 ], "start_rotation": [ 0, 0.99952, 0, -0.03108 ], "object_category": "plant", "info": { "geodesic_distance": 8.33869, "euclidean_distance": 5.90126, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.20527, 0.11554, -1.71065 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "23deb5b68d61426cb0cce5578e05cc8c", "path": [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "refined_path": [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ] }, { "episode_id": "A3TN1QCPUCJZBF:33L7PJKHCI1SJW8XMIXARGTNJXMT8A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.06143, 0.21968, 7.24653 ], "start_rotation": [ 0, 0.59303, 0, -0.80518 ], "object_category": "counter", "info": { "geodesic_distance": 10.93276, "euclidean_distance": 6.7934, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.33645, 0.11554, 2.29182 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A21ZK49H9LSSRY:3VP0C6EFSIZ12NZPK6Z0LO24JTTM67", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.63657, 0.11554, 5.28367 ], "start_rotation": [ 0, 0.2164, 0, -0.97631 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.5992, "euclidean_distance": 7.14491, "closest_goal_object_id": 599, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.34461, 0.11554, -0.8359 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_191_newN_0", "path": [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "refined_path": [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0" ], "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ] }, { "episode_id": "A1P3HHEXWNLJMP:3SB4CE2TJXYDJ1AWOQILCAKOMGQXAF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.99464, -0.68446, -16.09619 ], "start_rotation": [ 0, 0.85218, 0, -0.52325 ], "object_category": "seating", "info": { "geodesic_distance": 14.63484, "euclidean_distance": 13.02036, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.44737, 0.11554, -8.63856 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "5ef3c89e80bd44288091527d30458d16", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "5ef3c89e80bd44288091527d30458d16", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A399GYOD60WD7M:3I3WADAZ9S7TJMKNS348LMD9IY7O5I", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.81436, -0.68446, -19.13794 ], "start_rotation": [ 0, 0.99977, 0, 0.02122 ], "object_category": "counter", "info": { "geodesic_distance": 15.42235, "euclidean_distance": 14.18742, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.89506, 0.11554, -8.87752 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "165270ae7e7746c28500dd0fc3f84960", "path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ], "refined_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ] }, { "episode_id": "ALCPF5NANBDSZ:36TFCYNS46DSTOIAUWSDTW7SY6JXHI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.08314, 0.11554, -2.40156 ], "start_rotation": [ 0, 0.81424, 0, -0.58053 ], "object_category": "sofa", "info": { "geodesic_distance": 4.1079, "euclidean_distance": 3.50015, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.37204, 0.11554, 0.66122 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "769866f82e6b4388b8b63023532685e0", "path": [ "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "refined_path": [ "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ] }, { "episode_id": "A2GQH4SWIOFH2L:3HVVDCPGTGV7Y2ZFZMV4QTHPCEVTYY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.4292, 0.11554, 0.54855 ], "start_rotation": [ 0, 0.93818, 0, 0.34616 ], "object_category": "counter", "info": { "geodesic_distance": 3.95449, "euclidean_distance": 3.61059, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.24241, 0.11554, 2.40167 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "34276b7c9d6e491885f36dd1d286e477", "path": [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A75XDPFNICR3T:3I2PTA7R3VXZMHI6E30ICGRRTMYKQE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.33103, 2.51554, -12.37469 ], "start_rotation": [ 0, 0.08209, 0, -0.99662 ], "object_category": "towel", "info": { "geodesic_distance": 9.41271, "euclidean_distance": 8.45983, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.12807, 3.11554, -7.45248 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_112_newN_1", "path": [ "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3L8LSM7V7KX3T:3COPXFW7XDFEM5HREQLTCB1HPVTPKK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.04785, 0.11554, -0.61172 ], "start_rotation": [ 0, 0.85174, 0, 0.52397 ], "object_category": "plant", "info": { "geodesic_distance": 3.80103, "euclidean_distance": 2.34259, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.2098, 0.11554, -1.65004 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A272X64FOZFYLB:3XUHV3NRVM1JR5Y0OQ9I1DG8592H5P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.58869, 0.11554, -8.81487 ], "start_rotation": [ 0, 0.63592, 0, 0.77175 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.06938, "euclidean_distance": 3.30542, "closest_goal_object_id": 218, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.38935, -0.68058, -11.24465 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "3d6cd6d157704b8abe96332301d16436", "path": [ "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "0_edge_355_newN_0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ], "refined_path": [ "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3ATTHHXXWCRSPJTU0EAYT887YLDIXF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.9399, 3.11554, -4.59097 ], "start_rotation": [ 0, 0.19831, 0, 0.98014 ], "object_category": "stool", "info": { "geodesic_distance": 11.67677, "euclidean_distance": 9.24076, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.96521, 3.11554, -2.26635 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "86f4a6bece3b4edc8e71cc0d03cef2ca", "path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "0_edge_130_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A28U7B76HLCS1U:39GHHAVOMHUXMSPQYLTT8YQ9I53J4J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.19161, 3.11554, 0.17323 ], "start_rotation": [ 0, 0.70304, 0, 0.71115 ], "object_category": "sofa", "info": { "geodesic_distance": 17.63334, "euclidean_distance": 16.21008, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.70894, 2.51554, -12.85009 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", [ "31e2ead1db884aa0974a21674f83b488" ], "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3K9FOBBF2JMP3QNWJBK2NM91D7FNLO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.72875, -2.88446, -1.07633 ], "start_rotation": [ 0, 0.95275, 0, -0.30375 ], "object_category": "chair", "info": { "geodesic_distance": 28.17676, "euclidean_distance": 23.54907, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.64086, -3.94576, -21.70792 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AIIOT9A7ARQZW:3SBEHTYCWP6HPOJ45AW0CMFG1UMYIN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.9414, -3.08446, -6.38854 ], "start_rotation": [ 0, 0.98741, 0, 0.15816 ], "object_category": "sink", "info": { "geodesic_distance": 5.06759, "euclidean_distance": 3.80962, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.66541, -3.08446, -4.3882 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "a08659774e5a42679b1fa25c23dfd623", "path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1198W1SPF1R4:3C44YUNSI3S68ZBHM9Z68Y6R4GMPDK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.56617, -4.01706, -17.11839 ], "start_rotation": [ 0, 0.70113, 0, -0.71304 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 14.87339, "euclidean_distance": 10.76834, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.90919, -3.08446, -6.84975 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "ACI0C2WU1NABK:32EYX73OY2CD1E2ILWTKNTAUS1RRUH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.95401, -3.88446, -19.22881 ], "start_rotation": [ 0, 0.4683, 0, -0.88357 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.30131, "euclidean_distance": 15.47242, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.99281, -3.08446, -6.84693 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0" ] }, { "episode_id": "A3TN1QCPUCJZBF:3VSOLARPKDCNYKTDCVXX9ZK093L93Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.93432, 0.11554, -1.72253 ], "start_rotation": [ 0, 0.45296, 0, 0.89153 ], "object_category": "counter", "info": { "geodesic_distance": 14.29983, "euclidean_distance": 8.79505, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.11489, 0.11554, -5.66447 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "3bb211c9aabb496c8c5474f242e71a4f", "path": [ "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", [ "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463" ], "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "AKYXQY5IP7S0Z:3HWRJOOET758DX59ALEK9LTNSIXESY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.26018, 3.11554, -3.50634 ], "start_rotation": [ 0, 0.17873, 0, -0.9839 ], "object_category": "towel", "info": { "geodesic_distance": 4.98815, "euclidean_distance": 4.4352, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.13928, 3.11554, -7.45987 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A34CQE6RGU49L7:3QILPRALQ7YUOJ3DPMBYIHNVT7E8NL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.32402, -3.84627, -14.13576 ], "start_rotation": [ 0, 0.8066, 0, 0.59109 ], "object_category": "sofa", "info": { "geodesic_distance": 10.74826, "euclidean_distance": 6.90926, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.36813, -3.88446, -21.0647 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A2A7O6KYJ9GS8A:3B1NLC6UG1Z9KJL8OZ0EEJ9OIC6GPY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.43229, -4.08446, -18.06332 ], "start_rotation": [ 0, 0.82213, 0, 0.56929 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 15.84146, "euclidean_distance": 11.91801, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89331, -3.08446, -6.81975 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A16K7X677N4WN6:3TDXMTX3CDXF649YZR18TVVN2NVI6F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.38421, -3.88446, -12.02454 ], "start_rotation": [ 0, 0.86461, 0, -0.50244 ], "object_category": "sink", "info": { "geodesic_distance": 23.05456, "euclidean_distance": 10.88059, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.63087, -3.08446, -4.45797 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "b3fb49d922374aaf81242f21d39d214d", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5" ], "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AOMFEAWQHU3D8:37Q970SNZGB9TWBXYXJ521AT37HS1D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.90427, 3.11554, -3.73285 ], "start_rotation": [ 0, 0.80479, 0, -0.59357 ], "object_category": "picture", "info": { "geodesic_distance": 1.36473, "euclidean_distance": 1.09285, "closest_goal_object_id": 888, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.82526, 3.11554, -3.80651 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "81829ab350054bf297a7ebbb1eb4fcee", "path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", [ "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "A3B1P3B6X3AM2B:3SITXWYCNXCI2BFOU4IH7L4U409XBC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.23232, 0.11554, -8.21858 ], "start_rotation": [ 0, 0.74196, 0, 0.67045 ], "object_category": "bed", "info": { "geodesic_distance": 13.48859, "euclidean_distance": 12.60239, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.87864, 0.11554, -2.73199 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "e91fd405eae74dcb93ab7036937b1c60", "path": [ "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60" ], "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2Q6L9LKSNU7EB:37Q970SNZGB9TWBXYXJ521AT39VS1V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.13203, 0.11554, -1.29902 ], "start_rotation": [ 0, 0.97242, 0, -0.23322 ], "object_category": "stool", "info": { "geodesic_distance": 8.2831, "euclidean_distance": 7.84798, "closest_goal_object_id": 306, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.32818, 0.11554, -6.07245 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "dfb6d728749e4dbb9116902a8f2dd6eb", "path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", [ "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A34CQE6RGU49L7:3DIP6YHAPEVQUDQ0WN8FSUTMGO98EB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.29108, -0.56782, -11.37271 ], "start_rotation": [ 0, 0.67825, 0, -0.73483 ], "object_category": "sofa", "info": { "geodesic_distance": 1.40095, "euclidean_distance": 1.23898, "closest_goal_object_id": 208, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.26307, -0.68446, -10.64455 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170" ] }, { "episode_id": "A314XJY8V1YL12:3U0SRXB7CF806OI9OVHY9YI0J3UNRC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.35907, 3.11554, -2.20319 ], "start_rotation": [ 0, 0.81246, 0, -0.58302 ], "object_category": "sofa", "info": { "geodesic_distance": 2.24469, "euclidean_distance": 1.95149, "closest_goal_object_id": 898, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.98941, 3.11554, -0.92273 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_130_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3QHK8ZVMIOLN2HYZGLFTWR97WM3LB7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.9797, 0.11554, -8.18285 ], "start_rotation": [ 0, 0.40429, 0, -0.91463 ], "object_category": "towel", "info": { "geodesic_distance": 16.70058, "euclidean_distance": 10.16434, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.47305, 0.11554, -0.38221 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EWIJTFFVQA8COLX1JV0ZFN4XPS0E9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.42773, -0.66709, -12.21306 ], "start_rotation": [ 0, 0.73265, 0, -0.6806 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.64233, "euclidean_distance": 14.635, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66555, 0.11554, 1.66422 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_585_newN_0", "path": [ "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3TN1QCPUCJZBF:3EQHHY4HQUV5R93P4KR0GD47Q9P5GE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.34566, 0.85084, -4.42248 ], "start_rotation": [ 0, 0.19671, 0, -0.98046 ], "object_category": "stool", "info": { "geodesic_distance": 4.84307, "euclidean_distance": 4.39215, "closest_goal_object_id": 306, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.31274, 0.11554, -5.94561 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A22VLXXVIEJSD1:3RXCAC0YITSOERMR2IY3SXEYP3W8GU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.83043, -0.68446, -15.18854 ], "start_rotation": [ 0, 0.79733, 0, 0.60354 ], "object_category": "toilet", "info": { "geodesic_distance": 20.06789, "euclidean_distance": 18.23127, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.6905, 0.11554, 1.56716 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_466_newN_0", "path": [ "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "0_edge_469_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_565_newN_2", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "814d798917b14527a61e1135e74d6bba" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "814d798917b14527a61e1135e74d6bba" ], "refined_path": [ "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", [ "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0" ], "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", [ "c662afaab01a4c338d739c7600478db2" ], "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0" ], "310ded38502647188e97b980b77c2472", [ "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ], "814d798917b14527a61e1135e74d6bba" ] }, { "episode_id": "A34CQE6RGU49L7:3AMW0RGHOF5FUB2UB3D943ILFPSPND", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.66975, 0.11554, -2.08253 ], "start_rotation": [ 0, 0.79775, 0, -0.60298 ], "object_category": "towel", "info": { "geodesic_distance": 13.94545, "euclidean_distance": 12.86057, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.41941, 0.11554, -0.35341 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A2AAY4VT9L71SY:3R2UR8A0ICJ2L54XY9N3D54T7Y1OXA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.36015, -3.93717, -14.91806 ], "start_rotation": [ 0, 0.40962, 0, 0.91226 ], "object_category": "toilet", "info": { "geodesic_distance": 19.60258, "euclidean_distance": 12.72338, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.96398, -3.08446, -5.63393 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3IXEICO794M5FIP9T30C72XW92F6TG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.27951, 0.11554, -5.60457 ], "start_rotation": [ 0, 0.9805, 0, -0.19653 ], "object_category": "plant", "info": { "geodesic_distance": 7.55316, "euclidean_distance": 2.84049, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.36457, 0.11554, -8.39122 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "ebf438da4aff44d595b414b9ccd023ac", "path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A2TUUIV61CR0C7:3S06PH7KST73R7SF17OG72OTY561DP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.19668, 0.27744, -3.94509 ], "start_rotation": [ 0, 0.18438, 0, 0.98286 ], "object_category": "counter", "info": { "geodesic_distance": 3.10123, "euclidean_distance": 2.50851, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.04707, 0.11554, -5.65882 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "refined_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ] }, { "episode_id": "AZPZDX26SYMFY:3ZAK8W07I6HP1KIJRJA53X97FDU0UU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.5418, -0.27296, 8.47736 ], "start_rotation": [ 0, 0.8445, 0, -0.53555 ], "object_category": "counter", "info": { "geodesic_distance": 12.24437, "euclidean_distance": 8.03517, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.26508, 0.11554, 2.26171 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "701293ca052c452c8454a11cf5f140f5", "path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "0_edge_152_newN_0" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0" ], "refined_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:39ZSFO5CAAZW3QJ5DRKBL2O3EMAJUU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.69935, 3.11554, -6.65912 ], "start_rotation": [ 0, 0.36645, 0, 0.93044 ], "object_category": "seating", "info": { "geodesic_distance": 2.04586, "euclidean_distance": 2.04345, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.75962, 3.11554, -6.85015 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_225_newN_1", "path": [ "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A34CQE6RGU49L7:3R2PKQ87NYBHV7UQM78PIRS9OLDMIO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.76744, 0.11554, -1.42163 ], "start_rotation": [ 0, 0.97662, 0, -0.21496 ], "object_category": "towel", "info": { "geodesic_distance": 2.20421, "euclidean_distance": 1.98182, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.47481, 0.11554, -0.2924 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AZPZDX26SYMFY:3CPLWGV3MQ2U2OMNUEHCIDI6ALYN94", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.50336, 2.62195, -14.55228 ], "start_rotation": [ 0, 0.64666, 0, 0.76278 ], "object_category": "toilet", "info": { "geodesic_distance": 11.19674, "euclidean_distance": 10.38469, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.17741, 3.11554, -7.49144 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "86d651b81a7c41c4a78b902b43fac9d0", "path": [ "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac" ], "refined_path": [ "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac" ] }, { "episode_id": "A3RR85PK3AV9TU:3WI0P0II63VRKCRWZ13VDT66237DR4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.78467, -3.80482, -12.03103 ], "start_rotation": [ 0, 0.63919, 0, 0.76905 ], "object_category": "sink", "info": { "geodesic_distance": 9.58907, "euclidean_distance": 8.00771, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.73614, -3.08446, -4.25983 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "AISP93NJWABGK:3IAEQB9FMGNWS88IYVD10SENUIRWDV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.34278, 3.11554, -3.53799 ], "start_rotation": [ 0, 0.33713, 0, -0.94146 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.84095, "euclidean_distance": 5.19641, "closest_goal_object_id": 869, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.72349, 3.24063, -7.51819 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "1d262441697444b0908ea10b5ce60a59", "path": [ "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7" ], "refined_path": [ "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7" ] }, { "episode_id": "A2ZZW6KME1FUDU:3TXWC2NHN1TRI1ES2AYYH7SCXKH9SD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.11729, -3.08446, -8.14666 ], "start_rotation": [ 0, 0.66071, 0, -0.75064 ], "object_category": "sink", "info": { "geodesic_distance": 6.35959, "euclidean_distance": 5.93138, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.73094, -3.08446, -4.31881 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "af8dfeff482f4fa1b70bb1f470791f6f", "path": [ "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A34CQE6RGU49L7:3IAEQB9FMGNWS88IYVD10SENUISWDW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.49453, 0.11554, -0.82896 ], "start_rotation": [ 0, 0.67546, 0, 0.7374 ], "object_category": "towel", "info": { "geodesic_distance": 18.6866, "euclidean_distance": 15.92141, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.42741, 0.11554, -0.34162 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", [ "34276b7c9d6e491885f36dd1d286e477" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A5A14MTB35J23:3MD9PLUKKKH98F40YCBBV1KZPORNZO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.87179, 0.11554, 1.65776 ], "start_rotation": [ 0, 0.67777, 0, -0.73528 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.4671, "euclidean_distance": 8.82445, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.38702, 0.11554, -0.94352 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "5260f113c5f542a8b6b115cbdfc9fef5", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "a0a8cd07457a4376a550ac35104fed9d", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "a0a8cd07457a4376a550ac35104fed9d", [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A21ZK49H9LSSRY:3TYCR1GOTEMJKF1FMZVWI9GAKTJZLQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.91644, -0.68446, -15.6309 ], "start_rotation": [ 0, 0.99941, 0, -0.03428 ], "object_category": "seating", "info": { "geodesic_distance": 14.58949, "euclidean_distance": 12.69344, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.44329, 0.11554, -8.67895 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_469_newN_1", "8f6e247cade44925bd3406f4590e24ae", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16" ], "8f6e247cade44925bd3406f4590e24ae", [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ] ] }, { "episode_id": "AB7MYP65HZ2MH:3QL2OFSM98LW0MTQ6YR3K3JEG69CNI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.3517, 0.11554, -3.74966 ], "start_rotation": [ 0, 0.94158, 0, -0.33678 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.52252, "euclidean_distance": 6.5086, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.56426, 0.11554, 1.69099 ] }, "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3WT783CTPDKUZD4T38MUT8JKZHKBCH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.11077, 3.11554, -6.37781 ], "start_rotation": [ 0, 0.97128, 0, 0.23795 ], "object_category": "seating", "info": { "geodesic_distance": 14.8052, "euclidean_distance": 8.55591, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.6533, 3.11554, -6.77498 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "d828865aa4df444da9c7c051b87f1272", "path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A33VGSEJ44ORMF:3XM0HYN6NM2B05PHI4AQEGOC1X9EPV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.82028, 0.11554, 5.16769 ], "start_rotation": [ 0, 0.91614, 0, -0.40085 ], "object_category": "counter", "info": { "geodesic_distance": 8.84735, "euclidean_distance": 5.29259, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.23566, 0.11554, 2.2901 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "A1RC2ETLOSZGP0:3I2PTA7R3VXZMHI6E30ICGRRQQVQKM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.88774, 0.11554, -4.01881 ], "start_rotation": [ 0, 0.98706, 0, -0.16035 ], "object_category": "seating", "info": { "geodesic_distance": 1.68308, "euclidean_distance": 1.56154, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.46505, 0.11554, -5.46338 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2AAY4VT9L71SY:3G2UL9A02FHIHKS2G0XB265EK5N673", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.12396, -0.68446, -11.35351 ], "start_rotation": [ 0, 0.50366, 0, 0.8639 ], "object_category": "toilet", "info": { "geodesic_distance": 17.63512, "euclidean_distance": 14.93134, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.72381, 0.11554, 1.62357 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "3229309326224f1b93f98c1ed36594da", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", [ "8c874344710140e681d78c046d471afc" ], "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "7c41f500f2ce4b7a9916e292221a7740" ], "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ] }, { "episode_id": "A3UUH3632AI3ZX:38SKSKU7R30XPPC5MV7AIEDKOGPILK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.11004, -4.00546, -16.60865 ], "start_rotation": [ 0, 0.87285, 0, 0.48799 ], "object_category": "toilet", "info": { "geodesic_distance": 14.97224, "euclidean_distance": 11.93869, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.79346, -3.08446, -5.55225 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2TUUIV61CR0C7:3RUIQRXJBDRZFQKB7Y4NAU5C4H3LLE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.63643, -3.88446, -20.92152 ], "start_rotation": [ 0, 0.64001, 0, 0.76836 ], "object_category": "cabinet", "info": { "geodesic_distance": 20.06702, "euclidean_distance": 17.21322, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.61505, -3.08446, -4.96084 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3MH9DQ757YFMCOT45LZ8OPWNMUPGUJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.41214, 0.11554, 4.83584 ], "start_rotation": [ 0, 0.94293, 0, -0.333 ], "object_category": "towel", "info": { "geodesic_distance": 9.59676, "euclidean_distance": 7.90018, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.49518, 0.11554, -0.43977 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_347_newN_2", "path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_565_newN_2", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A21ZK49H9LSSRY:3PS7W85Z815SX1R7RA3ORCOYZ3H9TO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.94824, 0.11554, -8.08639 ], "start_rotation": [ 0, 0.06947, 0, 0.99758 ], "object_category": "sink", "info": { "geodesic_distance": 6.97718, "euclidean_distance": 4.67339, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.54525, 0.11554, -3.63483 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "889965f33b0e46938abc58b97fda5aef", "path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A1P3HHEXWNLJMP:33OOO72IVJOUVZYA3UDFT2P65OXTC2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.07924, 0.11554, 5.94016 ], "start_rotation": [ 0, 0.393, 0, -0.91954 ], "object_category": "counter", "info": { "geodesic_distance": 9.6586, "euclidean_distance": 5.94208, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.26413, 0.11554, 2.23955 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:3X73LLYYQ3HNHU46SQ54VUGUTY7HNP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.21952, -0.68446, -14.8973 ], "start_rotation": [ 0, 0.93913, 0, -0.34355 ], "object_category": "sink", "info": { "geodesic_distance": 9.41251, "euclidean_distance": 8.3151, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.31953, 0.11554, -6.61321 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "55ecd451adf344d88152d33d56d88413", "path": [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "ACI0C2WU1NABK:3VBEN272MM26XB10GG489OEZ1XVGSU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.36875, 0.11554, -3.42919 ], "start_rotation": [ 0, 0.80157, 0, -0.59789 ], "object_category": "counter", "info": { "geodesic_distance": 2.83385, "euclidean_distance": 2.68139, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.05369, 0.11554, -6.12527 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "AZPZDX26SYMFY:3JMSRU9HQKXO5PMD4GJPK8DUNLCVEZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.33021, 0.11554, 8.51005 ], "start_rotation": [ 0, 0.08037, 0, 0.99676 ], "object_category": "counter", "info": { "geodesic_distance": 6.5551, "euclidean_distance": 5.81161, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.15194, 0.11554, 2.6744 ] }, "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "e91955faab2b4a60ac33f48771b21c54", "path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "refined_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ] }, { "episode_id": "AIIOT9A7ARQZW:3H8DHMCCWBE5X8E19HUYCHKS7B4DK2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.28602, 0.11554, -8.32404 ], "start_rotation": [ 0, 0.27552, 0, -0.96129 ], "object_category": "seating", "info": { "geodesic_distance": 4.40767, "euclidean_distance": 3.08808, "closest_goal_object_id": 304, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.08939, 0.11554, -6.039 ] }, "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "889965f33b0e46938abc58b97fda5aef", "path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1" ], "refined_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", [ "e91fd405eae74dcb93ab7036937b1c60" ], "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3NC5L260MQPLLJDCYFHH7Y4M3TUOF8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.20263, -3.02066, -6.63436 ], "start_rotation": [ 0, 0.88551, 0, 0.46462 ], "object_category": "sink", "info": { "geodesic_distance": 3.33975, "euclidean_distance": 2.73628, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.63166, -3.08446, -4.446 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "349df9d6cf9647a38ec403d5fcffb690", "path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A16K7X677N4WN6:3WYP994K19U1W4O339NBFJPBO45Y65", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ 0.19671, 0.11554, 0.25943 ], "start_rotation": [ 0, 0.71856, 0, -0.69547 ], "object_category": "towel", "info": { "geodesic_distance": 22.2393, "euclidean_distance": 20.612, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.42814, 0.11554, -0.48664 ] }, "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "c4b31a14960b43c0b4b17320ce76acd1", "path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "5713992a192a40a1a32c11a12873791d", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", [ "2ba3d353cffb46eda191ea81569608f7" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0" ], "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A1P3HHEXWNLJMP:3CFVK00FWNOHW5H4KUYLLBNFFQ5L66", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.6118, 0.11554, -8.07082 ], "start_rotation": [ 0, 0.22127, 0, 0.97521 ], "object_category": "sink", "info": { "geodesic_distance": 7.63815, "euclidean_distance": 4.90557, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.59055, 0.11554, -3.7921 ] }, "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "1a4cc7154b1a4e44b8b41f6f6bb7a235", "path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A2DWSKGD9RNKMJ:336KAV9KYSVDE352G7B8P68Z8Z0Y2L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.197, -4.08446, -17.90369 ], "start_rotation": [ 0, 0.94606, 0, 0.32399 ], "object_category": "toilet", "info": { "geodesic_distance": 16.18623, "euclidean_distance": 12.47057, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.89101, -3.08446, -5.63314 ] }, "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3NFGEUZAH9V5G:33OOO72IVJOUVZYA3UDFT2P64L4TC2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -21.59291, -2.88446, -1.05256 ], "start_rotation": [ 0, 0.93019, 0, -0.36709 ], "object_category": "shower", "info": { "geodesic_distance": 18.32768, "euclidean_distance": 14.8935, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.09242, -3.08446, -4.1984 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A75XDPFNICR3T:31IBVUNM9U2GB3M9ZR3V2QYUYJ8FVB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.80429, -3.91988, -17.49427 ], "start_rotation": [ 0, 0.84452, 0, -0.53552 ], "object_category": "sofa", "info": { "geodesic_distance": 4.55945, "euclidean_distance": 4.33847, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.39942, -3.88446, -20.95599 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", [ "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A221PNPQRV4FC4:32KTQ2V7RFIOK61NID2C5YT64SAM9I", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.36502, 0.11554, -7.97836 ], "start_rotation": [ 0, 0.13146, 0, 0.99132 ], "object_category": "chair", "info": { "geodesic_distance": 9.502, "euclidean_distance": 9.36754, "closest_goal_object_id": 308, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.02701, 0.11554, -8.68661 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "episode_id": "A1P3HHEXWNLJMP:3LEP4MGT3I3445A734H5DE12KFHBDY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.64627, -0.68446, -20.87384 ], "start_rotation": [ 0, 0.99172, 0, -0.12842 ], "object_category": "stool", "info": { "geodesic_distance": 5.95635, "euclidean_distance": 5.64875, "closest_goal_object_id": 222, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.21148, -0.68446, -15.40316 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "52b3a84808ca4666982de6fbf6324acf", "path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_469_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_469_newN_0" ], "refined_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf" ], "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", [ "7d91f15f7b2d4c18b45ece193eabb9a3" ], "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_469_newN_0" ] }, { "episode_id": "A2J5DN5UMU0A3Z:333U7HK6IBIAMO8JRWUMB2KFRJVJDT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.59995, 0.11554, -6.55725 ], "start_rotation": [ 0, 0.03814, 0, -0.99927 ], "object_category": "bed", "info": { "geodesic_distance": 6.47103, "euclidean_distance": 6.0667, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.96837, 0.11554, -2.71853 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "ca485cbdb9c247a0b7b964a0589c4311", "path": [ "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "refined_path": [ "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ] ] }, { "episode_id": "A9K0CV70JWG1W:3U088ZLJVMW2TO7OMJP6LLU4ZPJW0U", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.34752, 3.11554, -4.40342 ], "start_rotation": [ 0, 0.92556, 0, 0.3786 ], "object_category": "chair", "info": { "geodesic_distance": 4.28675, "euclidean_distance": 3.64184, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.98969, 3.11554, -1.5737 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_439_newN_1", "path": [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "AIIOT9A7ARQZW:3X3OR7WPZ1340J0SD9VJ5PJ6LIBL82", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.64734, -3.08446, -6.43636 ], "start_rotation": [ 0, 0.00582, 0, 0.99998 ], "object_category": "bed", "info": { "geodesic_distance": 4.40148, "euclidean_distance": 4.11875, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.4714, -3.88446, -9.935 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a08659774e5a42679b1fa25c23dfd623", "path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "f40e599480664537833ee44fea373731", "0_edge_272_newN_1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "f40e599480664537833ee44fea373731", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", [ "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd" ], "0f0c966446e24bdc958349d0d9c3e09e", "f40e599480664537833ee44fea373731", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1" ], "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "A3APKUC67F9IMW:3Y54SXRO1NOQHTFAPLYFN8BCCM7UTC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.08054, 2.68776, -15.14128 ], "start_rotation": [ 0, 0.96466, 0, 0.26351 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.49036, "euclidean_distance": 4.28886, "closest_goal_object_id": 969, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.38962, 2.60158, -11.14396 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "fa3b4a397c084131bcdd2e6954dab4e5", "path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "0_edge_112_newN_1", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1" ], "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A2MCG5W6LHSRG9:37XITHEISYCHFKLIZ58KTNOOG0SRC8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.38545, -3.08446, -5.74801 ], "start_rotation": [ 0, 0.5644, 0, 0.8255 ], "object_category": "picture", "info": { "geodesic_distance": 5.93958, "euclidean_distance": 3.52834, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.00231, -3.01154, -3.28473 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "349df9d6cf9647a38ec403d5fcffb690", "path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690" ], "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A2TUUIV61CR0C7:3DY46V3X3RL7BCE5NO89CGDIW1V55E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.39094, 3.11554, -7.62755 ], "start_rotation": [ 0, 0.49016, 0, -0.87164 ], "object_category": "sofa", "info": { "geodesic_distance": 10.9072, "euclidean_distance": 9.29601, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.74244, 2.51554, -13.01595 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "0_edge_130_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:39GAF6DQWT3PLOS1SSOADOU0X9W1V3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.01733, -4.04564, -14.82519 ], "start_rotation": [ 0, 0.34694, 0, 0.93789 ], "object_category": "shower", "info": { "geodesic_distance": 5.11876, "euclidean_distance": 4.03821, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.11035, -3.88446, -17.59017 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2FRVUNDQQY7S9:323Q6SJS8KJBT2RPU2MRNP7LQ4MFHA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.58192, 2.97757, -9.5704 ], "start_rotation": [ 0, 0.16572, 0, -0.98617 ], "object_category": "picture", "info": { "geodesic_distance": 6.283, "euclidean_distance": 5.41364, "closest_goal_object_id": 970, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.88996, 2.67798, -15.03264 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "2f782cbda7884257a49e9c7538e1d87b", "path": [ "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "0_edge_289_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "0_edge_313_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5" ], "refined_path": [ "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", [ "9aab8934d33545f8a0559acbe1a69da3" ], "0_edge_289_newN_0", [ "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3" ], "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30" ], "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", [ "ef98e16224ae4151a0f5e69ec03916f7" ], "0_edge_313_newN_0", [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1" ], "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42" ], "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", [ "fa3b4a397c084131bcdd2e6954dab4e5" ] ] }, { "episode_id": "A16K7X677N4WN6:3FFJ6VRIL3RKSTNJX2LRKULWLGNI0G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.59224, -0.51664, -10.44217 ], "start_rotation": [ 0, 0.10754, 0, -0.9942 ], "object_category": "stool", "info": { "geodesic_distance": 3.81404, "euclidean_distance": 3.1449, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.01345, 0.11554, -8.6503 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "d1174dbd13454385b8a23cb15725b9a0", "path": [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A28U7B76HLCS1U:3ERET4BTVOCTUI1KX1PWQL12FN29KN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.60788, -3.79357, -12.80296 ], "start_rotation": [ 0, 0.99955, 0, -0.03014 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 24.93047, "euclidean_distance": 15.0446, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.91056, -3.08446, -6.77596 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3ND9UOO81M5FQKWABCBPJ5MS2O0WLB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.29987, -3.88446, -10.97952 ], "start_rotation": [ 0, 0.68655, 0, 0.72708 ], "object_category": "shower", "info": { "geodesic_distance": 9.31204, "euclidean_distance": 8.54934, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.02999, -3.08446, -4.17865 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3U088ZLJVMW2TO7OMJP6LLU4ZQ0W0D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.97889, -3.89698, -14.51807 ], "start_rotation": [ 0, 0.96074, 0, 0.27744 ], "object_category": "cushion", "info": { "geodesic_distance": 18.90715, "euclidean_distance": 11.13084, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.41149, -3.08446, -6.32807 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A3HL2LL0LEPZT8:3EF8EXOTT3YGUTS7B3ARA0J63NW1JS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.81035, 0.11554, -5.86537 ], "start_rotation": [ 0, 0.29473, 0, -0.95558 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.325, "euclidean_distance": 9.28097, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.50002, -0.31344, -10.07114 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", [ "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", [ "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", [ "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AZPZDX26SYMFY:3I0BTBYZAZO6IT2O1K7U6IFKAYWY0A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.37174, 3.11554, -6.42904 ], "start_rotation": [ 0, 0.98833, 0, 0.15231 ], "object_category": "bed", "info": { "geodesic_distance": 4.53182, "euclidean_distance": 3.84596, "closest_goal_object_id": 956, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.66556, 2.67424, -10.33949 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "17cfb9ce044443479e0a2a89925316a5", "path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "0_edge_225_newN_1", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ] }, { "episode_id": "A1NLDZ3T0S2CX:36U2A8VAG328VJ9S5DHCP2UTPX9KYC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.87419, -0.68446, -21.49346 ], "start_rotation": [ 0, 0.94958, 0, -0.31351 ], "object_category": "stool", "info": { "geodesic_distance": 7.08898, "euclidean_distance": 6.40443, "closest_goal_object_id": 222, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.23631, -0.68446, -15.30972 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "2cd98eed9ae24dec8ca021e761455fc6", "path": [ "2cd98eed9ae24dec8ca021e761455fc6", "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "2cd98eed9ae24dec8ca021e761455fc6", "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f" ], "refined_path": [ "2cd98eed9ae24dec8ca021e761455fc6", "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f" ] }, { "episode_id": "ACI0C2WU1NABK:3NGI5ARFTV8CG4V56GFB7W5IBLAP1L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.86133, -3.08446, -7.19494 ], "start_rotation": [ 0, 0.0055, 0, -0.99998 ], "object_category": "picture", "info": { "geodesic_distance": 4.56063, "euclidean_distance": 4.06077, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.87151, -3.00129, -3.23274 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "cc507e886ab449b8980fcde8de54b4e1", "path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A2AAY4VT9L71SY:3NL0RFNU0HQSXCV8G6T59DQMTVH4KF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.0421, -4.08446, -18.68812 ], "start_rotation": [ 0, 0.84572, 0, 0.53363 ], "object_category": "table", "info": { "geodesic_distance": 14.95041, "euclidean_distance": 12.53794, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.33328, -3.08446, -6.27619 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A3L8LSM7V7KX3T:37TRT2X24SUH7RAZD03GGCWFOYLBJG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.68832, -3.08446, -7.12835 ], "start_rotation": [ 0, 0.05188, 0, 0.99865 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.40832, "euclidean_distance": 4.64455, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.66498, -3.08446, -4.78184 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "cc507e886ab449b8980fcde8de54b4e1", "path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "refined_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ] }, { "episode_id": "A3K1P4SPR8XS7R:3SB4CE2TJXYDJ1AWOQILCAKOHEKXA0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.18342, 0.11554, 4.60356 ], "start_rotation": [ 0, 0.39164, 0, -0.92012 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.12418, "euclidean_distance": 8.69656, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.37907, 0.11554, -2.99249 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "fd1c630635a94f78878d5b13a63274bf", "path": [ "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_509_newN_1", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279", [ "fd1c630635a94f78878d5b13a63274bf" ], "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2" ], "b86db2322dcf44538d16e38cc789df6c", [ "c662afaab01a4c338d739c7600478db2" ], "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", [ "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A2TUUIV61CR0C7:3G0WWMR1UXN0UN39BGSY488VJIWNQD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.26121, -2.88446, -3.25383 ], "start_rotation": [ 0, 0.19993, 0, 0.97981 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.65606, "euclidean_distance": 5.34312, "closest_goal_object_id": 98, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.64248, -2.88446, -3.12639 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "6e7a94e806f8436e8d1d70efdf3bf3d6", "path": [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", [ "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A5WWHKD82I8UE:3Q5ZZ9ZEVQIQYUX7LMFCO0N9YRW85J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.34326, -3.80836, -12.76536 ], "start_rotation": [ 0, 0.58202, 0, 0.81318 ], "object_category": "sofa", "info": { "geodesic_distance": 10.6844, "euclidean_distance": 8.45124, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.25587, -3.88446, -20.95658 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A272X64FOZFYLB:3F1567XTNY8F5LZFA69TM7DBESSQ9S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.81793, 3.11554, -3.85702 ], "start_rotation": [ 0, 0.38768, 0, -0.92179 ], "object_category": "chair", "info": { "geodesic_distance": 3.85771, "euclidean_distance": 3.61305, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.9485, 3.11554, -1.65246 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_439_newN_1", "path": [ "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ], "refined_path": [ "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3137ONMDKI85NSWIFLK3K7AKZ3QGEQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.87876, -3.01697, -8.85838 ], "start_rotation": [ 0, 0.04484, 0, -0.99899 ], "object_category": "picture", "info": { "geodesic_distance": 9.54769, "euclidean_distance": 8.21211, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.01958, -3.00677, -3.24792 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "f40e599480664537833ee44fea373731", "path": [ "f40e599480664537833ee44fea373731", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "f40e599480664537833ee44fea373731", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "f40e599480664537833ee44fea373731", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3IFS6Q0HJKMKT27V644BU0RFF7ZSI3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.1863, 3.0381, -9.25714 ], "start_rotation": [ 0, 0.98675, 0, 0.16224 ], "object_category": "shower", "info": { "geodesic_distance": 12.01949, "euclidean_distance": 9.03333, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.64422 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "2f782cbda7884257a49e9c7538e1d87b", "path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A1J3ON3YLGJAM6:3TE3O85732B4H2TG2CJEHAF249M2RH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.34679, -3.88468, -20.08557 ], "start_rotation": [ 0, 0.00337, 0, 0.99999 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.34033, "euclidean_distance": 15.83843, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.87728, -3.08446, -6.76496 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A2MCG5W6LHSRG9:3ZR9AIQJUDCQKMO4CDJNQTBDFXP04J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.17796, 0.11554, -3.802 ], "start_rotation": [ 0, 0.21124, 0, -0.97743 ], "object_category": "sofa", "info": { "geodesic_distance": 5.26956, "euclidean_distance": 4.70205, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.06361, 0.11554, 0.51906 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_57_newN_0", "path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "refined_path": [ "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ] }, { "episode_id": "A1K581IY10MNC0:36AHBNMV1TF0HD3IDWVPLPZ34N7YD5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.63643, -3.88446, -20.92152 ], "start_rotation": [ 0, 0.64001, 0, 0.76836 ], "object_category": "cabinet", "info": { "geodesic_distance": 20.06702, "euclidean_distance": 17.21322, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.61505, -3.08446, -4.96084 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A74PT3GRDMEZ:354P56DE9M6N4IQZND0E3B161RV7SU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.00037, 0.11554, -7.01526 ], "start_rotation": [ 0, 0.94084, 0, 0.33885 ], "object_category": "sofa", "info": { "geodesic_distance": 8.59845, "euclidean_distance": 7.58665, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.97405, 0.11554, 0.5786 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_153_newN_1", "path": [ "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0" ], "refined_path": [ "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0" ] }, { "episode_id": "A2MCG5W6LHSRG9:3TS1AR6UQSHE0DLDHT0FWCIRC147FE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.18491, 0.11554, 5.43607 ], "start_rotation": [ 0, 0.01611, 0, -0.99987 ], "object_category": "bed", "info": { "geodesic_distance": 7.75043, "euclidean_distance": 7.42601, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.17612, 0.11554, -1.35305 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_347_newN_1", "path": [ "0_edge_347_newN_1", "0_edge_347_newN_2", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_347_newN_1", "0_edge_347_newN_2", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "0_edge_347_newN_1", "0_edge_347_newN_2", [ "0_edge_347_newN_1" ], "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A21ZK49H9LSSRY:3Q5C1WP23O48NUDMM16X9Q01LM751G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.10066, 1.66028, -4.47451 ], "start_rotation": [ 0, 0.77554, 0, 0.6313 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.43411, "euclidean_distance": 6.32227, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.06263, 3.11554, -2.55275 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "000d2cac6cfd4f07b56d159ef5658a08", "path": [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "0_edge_476_newN_0", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", [ "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08" ], "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:30BUDKLTXFY77V7YYP1CGAJV9TP5E8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.13318, 0.11554, -5.97852 ], "start_rotation": [ 0, 0.61988, 0, 0.78469 ], "object_category": "chair", "info": { "geodesic_distance": 12.07587, "euclidean_distance": 9.69015, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.54955, 0.11554, 2.89728 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_534_newN_0", "path": [ "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0" ], "refined_path": [ "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3PM8NZGV80J56HHDDMF72AZTLW3XQ4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.75211, 3.11554, -4.4534 ], "start_rotation": [ 0, 0.38423, 0, 0.92324 ], "object_category": "table", "info": { "geodesic_distance": 8.12747, "euclidean_distance": 4.25604, "closest_goal_object_id": 792, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.80671, 3.11554, -3.17715 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3WS1NTTKE0F0I2LTWUF6HX844NRF0F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.93684, -3.88053, -14.23302 ], "start_rotation": [ 0, 0.90108, 0, 0.43366 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 12.30783, "euclidean_distance": 10.34006, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.93298, -3.08446, -6.86618 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A1P3HHEXWNLJMP:33LK57MYLV86OSW568SXUVU5CLAZSJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.45662, 2.58925, -15.07079 ], "start_rotation": [ 0, 0.71721, 0, -0.69685 ], "object_category": "plant", "info": { "geodesic_distance": 1.86231, "euclidean_distance": 1.67759, "closest_goal_object_id": 959, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.12734, 2.51554, -13.47812 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "fa3b4a397c084131bcdd2e6954dab4e5", "path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0" ], "refined_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", [ "fa3b4a397c084131bcdd2e6954dab4e5" ], "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3IOEN3P9S9M46YD0RKG21WE1GG761J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.10767, -0.68446, -15.80549 ], "start_rotation": [ 0, 0.92213, 0, -0.38687 ], "object_category": "cushion", "info": { "geodesic_distance": 3.29317, "euclidean_distance": 2.97428, "closest_goal_object_id": 233, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.04784, -0.68446, -15.62022 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0" ] }, { "episode_id": "A3RR85PK3AV9TU:3XXU1SWE8OY5MB4LLETE3WXD881A0N", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.41307, 0.11554, -0.39591 ], "start_rotation": [ 0, 0.82452, 0, -0.56583 ], "object_category": "stool", "info": { "geodesic_distance": 6.36265, "euclidean_distance": 6.01483, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.93667, 0.11554, 3.58574 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "5713992a192a40a1a32c11a12873791d", "path": [ "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "10a315d020ac47408b86212a7e258279", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "10a315d020ac47408b86212a7e258279", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df" ], "10a315d020ac47408b86212a7e258279", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A1J3ON3YLGJAM6:3QBD8R3Z23MBN3GNEYLYGU7VD054OD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.41884, 3.11554, -7.69292 ], "start_rotation": [ 0, 0.96505, 0, -0.26208 ], "object_category": "bed", "info": { "geodesic_distance": 7.43733, "euclidean_distance": 6.25835, "closest_goal_object_id": 880, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.6189, 3.11554, -2.60722 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ], "refined_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ] }, { "episode_id": "A272X64FOZFYLB:38F5OAUN5PFYE9CJCJOFZXU4SGV7HQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.76685, 3.11554, -7.48491 ], "start_rotation": [ 0, 0.11833, 0, -0.99297 ], "object_category": "cushion", "info": { "geodesic_distance": 16.71826, "euclidean_distance": 14.71861, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.69953, 3.11554, -0.54565 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "6e0c4533325b431db69bee9e850f3d07", "path": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "54507d559ab2427982e8021989d48e50", "0_edge_198_newN_0", "0_edge_130_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "0_edge_443_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42" ], "54507d559ab2427982e8021989d48e50", "0_edge_198_newN_0", [ "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", [ "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1" ], "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3SUWZRL0M0G3QZ7C38BH8GXV5PF6E6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.21659, -3.92553, -17.18391 ], "start_rotation": [ 0, 0.94518, 0, 0.32654 ], "object_category": "cushion", "info": { "geodesic_distance": 14.36586, "euclidean_distance": 11.53251, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.49409, -3.08446, -6.24457 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb" ], "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "AZPZDX26SYMFY:34HJIJKLP7Z6DNPKFA7CBM139T7V4B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.45391, 0.11554, -4.43882 ], "start_rotation": [ 0, 0.9932, 0, 0.1164 ], "object_category": "shower", "info": { "geodesic_distance": 12.85661, "euclidean_distance": 8.03957, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.45897, 0.11554, -0.44349 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "eda4b648d33d436aa09516400af0de9b", "path": [ "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3RYI5HXC2MJLN:3E7TUJ2EGEPLGCVA5K39M86CVEC9DH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.85733, -2.88446, -0.9653 ], "start_rotation": [ 0, 0.92206, 0, -0.38706 ], "object_category": "sofa", "info": { "geodesic_distance": 3.54823, "euclidean_distance": 2.59108, "closest_goal_object_id": 102, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.60772, -2.88446, -3.3447 ] }, "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:382M9COHEJIOSAXDZQ9KOMBB8BAEUT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.95568, -3.88446, -9.82518 ], "start_rotation": [ 0, 0.83395, 0, -0.55184 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 7.51874, "euclidean_distance": 5.19232, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.75502, -3.08446, -6.77894 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1" ] }, { "episode_id": "A3RR85PK3AV9TU:3U5JL4WY5MCYHCUFFP8UZ7YOQ534XE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.08724, -3.08446, -5.92849 ], "start_rotation": [ 0, 0.64542, 0, 0.76382 ], "object_category": "chair", "info": { "geodesic_distance": 18.22224, "euclidean_distance": 16.79857, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.6075, -3.94922, -21.6743 ] }, "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1", [ "0_edge_88_newN_0" ], "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9" ], "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A38AQF5BPHJS4C:3KIBXJ1WD7XW155QZQ8ENBWRAMJKO7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.12996, -3.89434, -17.20489 ], "start_rotation": [ 0, 0.95992, 0, 0.28028 ], "object_category": "picture", "info": { "geodesic_distance": 18.46313, "euclidean_distance": 14.14186, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.94911, -3.01754, -3.30504 ] }, "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A2TUUIV61CR0C7:37WLF8U1WRT6CZZMZUMK6BA0PMOK6H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.95888, -4.08446, -17.65544 ], "start_rotation": [ 0, 0.95854, 0, -0.28497 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 15.60301, "euclidean_distance": 11.16267, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.85045, -3.08446, -6.81701 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A28U7B76HLCS1U:3Z7EFSHGNBH1CG7U84ECI5ACIIACXP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.21446, 3.11554, -5.9893 ], "start_rotation": [ 0, 0.01547, 0, -0.99988 ], "object_category": "stool", "info": { "geodesic_distance": 6.88889, "euclidean_distance": 5.19331, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.99707, 3.11554, -2.2687 ] }, "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "17cfb9ce044443479e0a2a89925316a5", "path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "ACI0C2WU1NABK:32N49TQG3ILLFC51OBH3OPN313SAVQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.04066, 3.11554, -3.61218 ], "start_rotation": [ 0, 0.07795, 0, -0.99696 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.24849, "euclidean_distance": 2.18619, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.97806, 3.11554, -2.50029 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "ee51e32e785e4649ae13c9152ec68893", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", [ "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "ee51e32e785e4649ae13c9152ec68893", [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", [ "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "episode_id": "A16K7X677N4WN6:3OONKJ5DKEMV821WTDVLO8D1NSHBOL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.91577, 0.11554, -4.87097 ], "start_rotation": [ 0, 0.22071, 0, -0.97534 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.04456, "euclidean_distance": 1.55215, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.99807, 0.11554, -3.50874 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "20352d61b4c14e2ab410046ab72d0849", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", [ "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1" ], "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A16K7X677N4WN6:3HPZF4IVNOWQCLX4D00E1JHLKO1YCE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.4755, 0.11554, -3.54466 ], "start_rotation": [ 0, 0.10936, 0, -0.994 ], "object_category": "plant", "info": { "geodesic_distance": 7.44278, "euclidean_distance": 7.05602, "closest_goal_object_id": 508, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.28535, 0.11554, 3.15995 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "0_edge_515_newN_0", "path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151" ], "refined_path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151" ] }, { "episode_id": "A3RYI5HXC2MJLN:3CFVK00FWNOHW5H4KUYLLBNFEMV6L8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.81572, -4.06886, -15.20114 ], "start_rotation": [ 0, 0.91704, 0, -0.3988 ], "object_category": "shower", "info": { "geodesic_distance": 2.91868, "euclidean_distance": 2.5584, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.06424, -3.88446, -17.64376 ] }, "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3KGTPGBS6ZOWXULX66EJML2MB8Q2UL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.61788, -3.86633, -13.49473 ], "start_rotation": [ 0, 0.85757, 0, 0.51437 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 24.60108, "euclidean_distance": 15.34905, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.85025, -3.08446, -6.75896 ] }, "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a" ], "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A2FRVUNDQQY7S9:3CFVK00FWNOHW5H4KUYLLBNFEMD6LQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.59874, -3.75971, -11.7913 ], "start_rotation": [ 0, 0.81498, 0, 0.57949 ], "object_category": "cushion", "info": { "geodesic_distance": 23.1128, "euclidean_distance": 12.38183, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.6304, -3.08446, -6.42882 ] }, "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "56afcfda8a6b45b499770f816eb67944", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb" ], "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3NFGEUZAH9V5G:358UUM7WR16B33QM8O09D1WAGQC7R9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.32723, 3.11554, -2.41352 ], "start_rotation": [ 0, 0.23415, 0, 0.9722 ], "object_category": "plant", "info": { "geodesic_distance": 6.62345, "euclidean_distance": 3.64615, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.99521, 3.11554, -6.10054 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "ba3d3163aa4a4211a0bda0b7adf07b60", "path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A16K7X677N4WN6:3UNH76FOCU83L79VQPUS4FMXE2OYMF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.24292, 3.11554, -4.41657 ], "start_rotation": [ 0, 0.98939, 0, 0.14528 ], "object_category": "plant", "info": { "geodesic_distance": 4.29106, "euclidean_distance": 1.78093, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.89885, 3.11554, -6.14458 ] }, "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "efe92e05c7f044dfb7cfc92e3cb2f2b9", "path": [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", [ "a0ed01562b764da7a7bc5f5670d9a463" ], "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A74PT3GRDMEZ:38F71OA9GVZXLGS0LZ24FUFH7Q9MFE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.8958, -3.06779, -7.03386 ], "start_rotation": [ 0, 0.25512, 0, 0.96691 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.78417, "euclidean_distance": 3.4295, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.56137, -3.08446, -4.94715 ] }, "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "372d9c5a8d394815a470573708b4f8cd", "path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "refined_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ] ] }, { "episode_id": "AIIOT9A7ARQZW:3TXMY6UCAGRH3J6IMQJKOXEJLFKQC3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.29665, 0.11554, -5.4212 ], "start_rotation": [ 0, 0.35628, 0, 0.93438 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.4206, "euclidean_distance": 9.04943, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.46831, -0.32162, -10.08533 ] }, "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "eda4b648d33d436aa09516400af0de9b", "path": [ "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "f07aeb211ee441e5ae1845889055195d", "ebfb6f0280f145ea9c72600d76997c78" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "f07aeb211ee441e5ae1845889055195d", "ebfb6f0280f145ea9c72600d76997c78" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "f07aeb211ee441e5ae1845889055195d", "ebfb6f0280f145ea9c72600d76997c78" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3IRIK4HM3CNOT1NY7H5MISXSKD76CI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.89184, 3.11554, -8.91149 ], "start_rotation": [ 0, 0.96832, 0, -0.24972 ], "object_category": "table", "info": { "geodesic_distance": 1.97432, "euclidean_distance": 1.77138, "closest_goal_object_id": 940, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.7564, 3.11554, -7.56263 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "2f782cbda7884257a49e9c7538e1d87b", "path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ], "refined_path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3C2NJ6JBKCKJ241O952X8QAS3CS2NO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.39196, -3.88446, -9.92803 ], "start_rotation": [ 0, 0.99038, 0, 0.13834 ], "object_category": "table", "info": { "geodesic_distance": 23.65049, "euclidean_distance": 8.82641, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.46294, -3.08446, -6.34309 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "32788068265a4d5fa52a3cc0cafee00f", [ "09065b7df3804647b838b3decc672389" ], "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3Z4XG4ZF4AUZ0DHHRSY7GJETRQKX8W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.82618, 0.11554, 0.66192 ], "start_rotation": [ 0, 0.40961, 0, 0.91226 ], "object_category": "table", "info": { "geodesic_distance": 6.47939, "euclidean_distance": 5.93604, "closest_goal_object_id": 628, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.89657, 0.11554, -2.26419 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "4f0a87d560244c2f926f2110e9dfc1e4", "path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "15dc2cb2ace8454eaaeedea4f897cc5a", "5a63b57ef203489e9536ab9c3694f3e6" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "5a63b57ef203489e9536ab9c3694f3e6" ], "refined_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "5a63b57ef203489e9536ab9c3694f3e6" ] }, { "episode_id": "A2L26DMSVUEDP6:3ZAK8W07I6HP1KIJRJA53X97EAQU0D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.65838, -3.84131, -11.39326 ], "start_rotation": [ 0, 0.98966, 0, -0.14345 ], "object_category": "table", "info": { "geodesic_distance": 7.39415, "euclidean_distance": 6.10102, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.43957, -3.08446, -6.32632 ] }, "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A9K0CV70JWG1W:33OOO72IVJOUVZYA3UDFT2P64L3CTK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.4859, -0.57157, -10.67015 ], "start_rotation": [ 0, 0.46754, 0, 0.88397 ], "object_category": "bed", "info": { "geodesic_distance": 10.13134, "euclidean_distance": 8.73368, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.89401, 0.11554, -2.68336 ] }, "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "d1174dbd13454385b8a23cb15725b9a0", "path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ] }, { "episode_id": "A36QGCT3MMXC4Q:33PPO7FECXIERDOD9E9MZ15F8JTDIM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.66334, 0.11554, -8.49072 ], "start_rotation": [ 0, 0.99789, 0, 0.06485 ], "object_category": "towel", "info": { "geodesic_distance": 19.47917, "euclidean_distance": 8.62966, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.51151, 0.11554, -0.30117 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "1a4cc7154b1a4e44b8b41f6f6bb7a235", "path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "0_edge_355_newN_1", "0_edge_520_newN_0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0bee565558544262b0368f2a92702677", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "bc988e98c7e44f129dcc49976264f7b1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "0_edge_261_newN_0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "a0b14b141fcd42ac8c56f66ede5be8b0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0" ], "0_edge_355_newN_1", [ "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443" ] }, { "episode_id": "AZPZDX26SYMFY:3VW04L3ZLV9PFEIPZ0AZWIVM9MCXXO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.24248, -0.68446, -15.9561 ], "start_rotation": [ 0, 0.49569, 0, 0.8685 ], "object_category": "bathtub", "info": { "geodesic_distance": 22.3112, "euclidean_distance": 19.56271, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.62062, 0.11554, 1.60961 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "8f6e247cade44925bd3406f4590e24ae", "path": [ "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A19C2SO0IMRZ1L:3YOH7BII0BARRPEN02USI3QZXRVKV3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.13222, 0.11554, -9.06984 ], "start_rotation": [ 0, 0.8749, 0, 0.4843 ], "object_category": "table", "info": { "geodesic_distance": 3.02399, "euclidean_distance": 1.91447, "closest_goal_object_id": 223, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.90691, -0.50819, -10.45644 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "3d6cd6d157704b8abe96332301d16436", "path": [ "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "refined_path": [ "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436" ], "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3I33IC7ZWH5CIL7Z01XSMKQRH212AH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.16783, -3.08446, -6.43646 ], "start_rotation": [ 0, 0.39479, 0, -0.91877 ], "object_category": "picture", "info": { "geodesic_distance": 5.66207, "euclidean_distance": 4.18052, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.96697, -3.01749, -3.32231 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "349df9d6cf9647a38ec403d5fcffb690", "path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0_edge_482_newN_0", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690" ], "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3T5UAYFKJBVTA:3FIJLY1B6W736JPDDFUWWY9BN12FP6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.18993, -0.68446, -15.56604 ], "start_rotation": [ 0, 0.99859, 0, -0.05311 ], "object_category": "shower", "info": { "geodesic_distance": 21.86559, "euclidean_distance": 20.57895, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.82122, 0.11554, 3.8829 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "5ef3c89e80bd44288091527d30458d16", "path": [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", [ "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", [ "9c4bd27f6372466f904b6ce78045857d" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1" ], "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", [ "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A1R0689JPSQ3OF:30BUDKLTXFY77V7YYP1CGAJUK0F5EL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.99062, -0.68446, -21.51566 ], "start_rotation": [ 0, 0.87812, 0, -0.47844 ], "object_category": "cushion", "info": { "geodesic_distance": 8.35755, "euclidean_distance": 6.26513, "closest_goal_object_id": 233, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.64874, -0.68446, -15.2566 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "f924e8567e4a4a31bd456348ad343f9b", "path": [ "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_513_newN_1", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "09fa27f2739d4b849d2cf604a6319170" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170" ], "refined_path": [ "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_513_newN_1", [ "2cd98eed9ae24dec8ca021e761455fc6" ], "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170" ] }, { "episode_id": "AIIOT9A7ARQZW:3VA45EW49PQUV4J4RG2WIW0SVS8O1F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.4058, -3.08446, -6.65252 ], "start_rotation": [ 0, 0.90365, 0, -0.42828 ], "object_category": "chair", "info": { "geodesic_distance": 18.11867, "euclidean_distance": 16.23201, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.55921, -3.95871, -21.60097 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "4d53b2df82b3494a80822eba94c31f2f", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1" ], "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A1S0N5BIXAQO8I:3ZQIG0FLQGJIMP84PGDV6EKUNWPWVV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.73362, 0.11554, 4.3287 ], "start_rotation": [ 0, 0.98026, 0, -0.19772 ], "object_category": "shower", "info": { "geodesic_distance": 8.86519, "euclidean_distance": 7.45395, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.4786, 0.11554, -0.58176 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "6993d4826f644c37b5632edde130ab67", "path": [ "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "dec940911e0a44e7b51b8fa218fb3550", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2OFN0A5CPLH57:3FIJLY1B6W736JPDDFUWWY9BPOGFPW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.58698, -3.88298, -10.44885 ], "start_rotation": [ 0, 0.80103, 0, -0.59862 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.70817, "euclidean_distance": 6.02301, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.57171, -3.08446, -4.81558 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AIIOT9A7ARQZW:3I02618YA29SP1M384PVIYAFGSMUPI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.26391, -4.08446, -19.46146 ], "start_rotation": [ 0, 0.39304, 0, -0.91952 ], "object_category": "chair", "info": { "geodesic_distance": 4.26968, "euclidean_distance": 3.81322, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.32787, -3.91877, -21.71941 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_88_newN_1", "b3fb49d922374aaf81242f21d39d214d", "38808050304946dfb262966b02c6ae4e", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944" ], "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d" ], "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "0_edge_88_newN_1", [ "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3G5F9DBFOR00PZDFUHRV5BA6PNCHVP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.15563, -4.08446, -19.2148 ], "start_rotation": [ 0, 0.90189, 0, 0.43197 ], "object_category": "chair", "info": { "geodesic_distance": 3.6013, "euclidean_distance": 3.32964, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.36232, -3.92411, -21.70512 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "b3fb49d922374aaf81242f21d39d214d", "b634b67520bf4c579f044a8e433b021d", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944" ], "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A2TUUIV61CR0C7:34Z02EIMIUGA173UREKVY1N5P6P0TC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.62416, 3.11554, -5.4164 ], "start_rotation": [ 0, 0.68236, 0, 0.73102 ], "object_category": "sofa", "info": { "geodesic_distance": 12.10671, "euclidean_distance": 10.89487, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.89299, 2.51554, -12.96537 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:32SVAV9L3HC1333I41BX5UVK4UF3AI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.75599, 2.83502, -3.15286 ], "start_rotation": [ 0, 0.69578, 0, -0.71825 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.39733, "euclidean_distance": 3.86316, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.08143, 3.11554, -6.88481 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "9c4bd27f6372466f904b6ce78045857d", "path": [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ], "refined_path": [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", [ "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ] }, { "episode_id": "A19C2SO0IMRZ1L:308XBLVESK7Y5FTCL5CPI3I6PQ8RBU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.04853, 0.11554, -8.57902 ], "start_rotation": [ 0, 0.87524, 0, -0.48369 ], "object_category": "cushion", "info": { "geodesic_distance": 3.03965, "euclidean_distance": 2.73741, "closest_goal_object_id": 243, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.94622, -0.62449, -11.30915 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_565_newN_2", "path": [ "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ], "refined_path": [ "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:32M8BPYGAVPH3XY4B4AU5M8B2CLIGU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.32828, 1.51554, -3.84214 ], "start_rotation": [ 0, 0.93757, 0, 0.3478 ], "object_category": "plant", "info": { "geodesic_distance": 6.11499, "euclidean_distance": 3.00278, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.30696, 3.11554, -1.53982 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "bad314d5f38844a3bd94e5e1ec557446", "path": [ "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "refined_path": [ "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ] }, { "episode_id": "A3T5UAYFKJBVTA:31Q0U3WYDRINAYR5AULU7AEX21O17L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.26285, 0.11554, 2.9482 ], "start_rotation": [ 0, 0.04765, 0, -0.99886 ], "object_category": "bed", "info": { "geodesic_distance": 8.55335, "euclidean_distance": 7.38672, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.0572, 0.11554, -2.2942 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "b86db2322dcf44538d16e38cc789df6c", "path": [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ] }, { "episode_id": "A3GWRDHAURRNK6:3R08VXYT7EYGBZ787IAF004QIJQ7WB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.16318, 3.11554, -3.71107 ], "start_rotation": [ 0, 0.90443, 0, 0.42663 ], "object_category": "stool", "info": { "geodesic_distance": 2.38729, "euclidean_distance": 1.565, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.93582, 3.11554, -2.30414 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A3T5UAYFKJBVTA:30LSNF239WYRO3QXCPP53IEAUBH2IY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.07188, -3.88446, -13.20888 ], "start_rotation": [ 0, 0.97213, 0, -0.23446 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 11.43238, "euclidean_distance": 9.72367, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.88262, -3.08446, -6.81714 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3ZSANO2JCHA0JB555WYQR3ENPF5FSN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.73694, -0.68446, -16.25251 ], "start_rotation": [ 0, 0.53339, 0, -0.84587 ], "object_category": "sofa", "info": { "geodesic_distance": 7.26541, "euclidean_distance": 7.17187, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.7463, -0.68446, -14.48587 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "09fa27f2739d4b849d2cf604a6319170" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", [ "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170" ] }, { "episode_id": "A2VIKCIM9TZL22:32RIADZISU7QLV8GLF270ZHWOUES4S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.49094, -0.68446, -11.56239 ], "start_rotation": [ 0, 0.47995, 0, -0.8773 ], "object_category": "towel", "info": { "geodesic_distance": 26.98363, "euclidean_distance": 15.02053, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.46654, 0.11554, -0.34017 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "09fa27f2739d4b849d2cf604a6319170", "path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0bee565558544262b0368f2a92702677", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", [ "701006439c3f44239c348b0b92833ca3" ], "d1174dbd13454385b8a23cb15725b9a0", [ "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3JW0YLFXRVJV1E89FQIRSG37DTKWWR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.38273, 0.11554, -7.85876 ], "start_rotation": [ 0, 0.89703, 0, 0.44197 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.89386, "euclidean_distance": 7.19125, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.49427, -0.39349, -10.17193 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", [ "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ] }, { "episode_id": "A1P3HHEXWNLJMP:38F71OA9GVZXLGS0LZ24FUFHY1XMFF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.11265, 0.11554, 6.81664 ], "start_rotation": [ 0, 0.70151, 0, -0.71266 ], "object_category": "cushion", "info": { "geodesic_distance": 12.18637, "euclidean_distance": 7.45371, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.1142, 0.11554, 1.24423 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "10a315d020ac47408b86212a7e258279", "path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ], "refined_path": [ "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4" ] ] }, { "episode_id": "AOG0PUCLMU0HH:3TMFV4NEPAHKBDCRHN2LE00M9ZJ8WW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.1364, 0.11554, -9.00052 ], "start_rotation": [ 0, 0.27398, 0, -0.96173 ], "object_category": "cushion", "info": { "geodesic_distance": 4.12025, "euclidean_distance": 3.61276, "closest_goal_object_id": 243, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.88808, -0.59225, -11.13687 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "6a57a23befa34262b84aa219156f1432", "path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_585_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0" ], "refined_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1" ], "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "0_edge_585_newN_0" ] }, { "episode_id": "A16K7X677N4WN6:3JRJSWSMQJO4TGKUK6DJ1DLBP8N3EL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.11928, -0.68446, -21.35401 ], "start_rotation": [ 0, 0.9736, 0, -0.22828 ], "object_category": "bed", "info": { "geodesic_distance": 21.55803, "euclidean_distance": 19.34881, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.03779, 0.11554, -2.73839 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_409_newN_1", "path": [ "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A1P3HHEXWNLJMP:3OE22WJIGKRDPDNI8H4KI30PLPVUQY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.12153, -3.84051, -12.8067 ], "start_rotation": [ 0, 0.21032, 0, 0.97763 ], "object_category": "table", "info": { "geodesic_distance": 9.07709, "euclidean_distance": 8.08299, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.41497, -3.08446, -6.35058 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A3GWRDHAURRNK6:3EFVCAY5L5CY5TCSAOJ6PA6DR3Q8JZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.15098, -3.70493, -10.66223 ], "start_rotation": [ 0, 0.35451, 0, -0.93505 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 25.40783, "euclidean_distance": 12.91884, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.77712, -3.08446, -6.7835 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b634b67520bf4c579f044a8e433b021d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:3ZPBJO59KR4EVIDT3WR1ZP40515HDB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.9621, -0.68446, -21.04233 ], "start_rotation": [ 0, 0.13069, 0, -0.99142 ], "object_category": "shower", "info": { "geodesic_distance": 28.69, "euclidean_distance": 27.02169, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.81807, 0.11554, 3.81444 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_513_newN_1", "path": [ "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ], "refined_path": [ "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ] }, { "episode_id": "AZPZDX26SYMFY:3COPXFW7XDFEM5HREQLTCB1HE2BKP0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.70932, -2.88446, -1.01608 ], "start_rotation": [ 0, 0.61186, 0, -0.79096 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.33858, "euclidean_distance": 2.49148, "closest_goal_object_id": 98, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.85882, -2.88446, -3.53227 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052" ] }, { "episode_id": "A5A14MTB35J23:3F6HPJW4JF39PYA216TK49NJMOS2W1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.12745, 0.11554, -3.34626 ], "start_rotation": [ 0, 0.14962, 0, -0.98874 ], "object_category": "chair", "info": { "geodesic_distance": 3.16872, "euclidean_distance": 2.83052, "closest_goal_object_id": 303, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.52294, 0.11554, -5.53503 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "episode_id": "AOG0PUCLMU0HH:3PQMUDRV7T9VZO4Z1SAXQYLSXWFIIK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.83301, 0.11554, -4.02281 ], "start_rotation": [ 0, 0.63494, 0, 0.77256 ], "object_category": "toilet", "info": { "geodesic_distance": 12.12313, "euclidean_distance": 4.88003, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.22238, 3.11554, -7.64275 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_57_newN_0", "path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A16K7X677N4WN6:39K0FND3AJI2PPBSAJGC1T4Q4KHAMO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.77434, -3.79821, -12.7058 ], "start_rotation": [ 0, 0.96042, 0, 0.27855 ], "object_category": "shower", "info": { "geodesic_distance": 10.40693, "euclidean_distance": 9.24147, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.22265, -3.08446, -4.33219 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2DDPSXH2X96RF:3NXNZ5RS1C05Z3U0E70NMGWFKQD97B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.22723, -3.95827, -17.62527 ], "start_rotation": [ 0, 0.36629, 0, -0.9305 ], "object_category": "toilet", "info": { "geodesic_distance": 17.31507, "euclidean_distance": 13.7322, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.86609, -3.08446, -5.62452 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2TUUIV61CR0C7:3OS46CRSLH2KSATYYY0R8KLHVKP6V9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.0914, 0.11554, -4.20701 ], "start_rotation": [ 0, 0.99653, 0, -0.08322 ], "object_category": "sofa", "info": { "geodesic_distance": 11.26789, "euclidean_distance": 8.27508, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.90956, -0.57254, -10.95543 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "d837361a192a46f796fa084b58952201", "path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "refined_path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ] }, { "episode_id": "A31BA1WLSWUSY1:333U7HK6IBIAMO8JRWUMB2KF5LJDJT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.0601, 3.11554, -5.58791 ], "start_rotation": [ 0, 0.19713, 0, 0.98038 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.6192, "euclidean_distance": 3.36808, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.34867, 3.11554, -2.47615 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "AKYXQY5IP7S0Z:34MAJL3QP6QM1EN1V016SR9KCOA346", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.79631, 0.11554, -5.68124 ], "start_rotation": [ 0, 0.61724, 0, -0.78678 ], "object_category": "stool", "info": { "geodesic_distance": 4.83344, "euclidean_distance": 4.24789, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.93913, 0.11554, -8.56506 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "8b5fb14f2f854a4ea7f05d76adf7a9d9", "path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "AD1ILDUXZHASF:36DSNE9QZ711QLZ8H582MWWEM97OJF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.52159, 0.11554, 2.91437 ], "start_rotation": [ 0, 0.3464, 0, -0.93809 ], "object_category": "picture", "info": { "geodesic_distance": 3.74176, "euclidean_distance": 3.53799, "closest_goal_object_id": 631, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.97746, 0.11554, 0.51626 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0" ] }, { "episode_id": "A5WWHKD82I8UE:3HL8HNGX474IEW96WQYZA89XY9H9F8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.60391, -0.68446, -16.33291 ], "start_rotation": [ 0, 0.21615, 0, 0.97636 ], "object_category": "plant", "info": { "geodesic_distance": 3.81695, "euclidean_distance": 3.59977, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.94152, -0.60824, -13.79152 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A1R0689JPSQ3OF:3KWTYT08726LD1HQFBOGT59EVG85L4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ 0.10006, 3.11554, -4.28396 ], "start_rotation": [ 0, 0.72007, 0, 0.6939 ], "object_category": "shower", "info": { "geodesic_distance": 21.51335, "euclidean_distance": 19.68321, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.7453 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8" ], "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2CWA5VQZ6IWMQ:3PB5A5BD0X9KEDH8SD6XEXI2MEN7GZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.04094, 0.11554, 0.22712 ], "start_rotation": [ 0, 0.63886, 0, 0.76933 ], "object_category": "sofa", "info": { "geodesic_distance": 12.28526, "euclidean_distance": 11.31507, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.81072, -0.55529, -10.86522 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ] ] }, { "episode_id": "A3GWRDHAURRNK6:3FQ5JJ512NREJK5EYB818MWMYEFKNB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.19692, -0.68446, -20.11566 ], "start_rotation": [ 0, 0.99946, 0, 0.03279 ], "object_category": "bathtub", "info": { "geodesic_distance": 26.38142, "euclidean_distance": 24.60868, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.63036, 0.11554, 1.63886 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "eb4f9f3d0aa1436991b324f79196bca9", "path": [ "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_471_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", [ "519643de8cf8414db0d0191bab30f32d" ], "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_471_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3V8LIMUUJWUTL:3II4UPYCOLAR8BCWMMEV83W0ICZDQX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.96863, 0.11554, 0.26497 ], "start_rotation": [ 0, 0.9451, 0, -0.32678 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.64567, "euclidean_distance": 3.46154, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.02021, 0.11554, -3.10736 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A1NKBXOTZAI1YK:3LEP4MGT3I3445A734H5DE129E1DB7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.98081, 0.11554, -3.19771 ], "start_rotation": [ 0, 0.7802, 0, 0.62554 ], "object_category": "sofa", "info": { "geodesic_distance": 4.69724, "euclidean_distance": 4.2519, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.95256, 0.11554, 0.4938 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "29e0e9dd21db4b78bdea0ca885f8a744", "path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "refined_path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744" ], "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3X4JMASXCOCA5L9DRSTAY7HJGZ10BV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.38086, 2.70004, -15.18963 ], "start_rotation": [ 0, 0.28728, 0, -0.95785 ], "object_category": "shower", "info": { "geodesic_distance": 18.17491, "euclidean_distance": 14.81334, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.72775 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "3014b8cf45664302bb24e76ba6aec69b", "path": [ "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42" ], "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1" ], "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A5WWHKD82I8UE:3D4CH1LGECWOSW517A4HST992KCG94", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.00661, 3.25233, -7.77379 ], "start_rotation": [ 0, 0.04166, 0, 0.99913 ], "object_category": "plant", "info": { "geodesic_distance": 8.8352, "euclidean_distance": 7.60428, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.35095, 3.11554, -1.5865 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "137543cd90ed4a90a10b244b14014cf0", "path": [ "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "86f4a6bece3b4edc8e71cc0d03cef2ca", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A28HB7240OFGEW:36AHBNMV1TF0HD3IDWVPLPZ3V52DY6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.55727, -0.68446, -21.32783 ], "start_rotation": [ 0, 0.9404, 0, 0.34006 ], "object_category": "counter", "info": { "geodesic_distance": 14.4926, "euclidean_distance": 12.38941, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.79172, 0.11554, -9.00729 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "52b3a84808ca4666982de6fbf6324acf", "path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf" ], "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3AQF3RZ55ALVWD78YJVNQYIUSCW6F7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.90309, 0.11554, 7.68784 ], "start_rotation": [ 0, 0.78163, 0, -0.62374 ], "object_category": "bathtub", "info": { "geodesic_distance": 16.69925, "euclidean_distance": 6.91735, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.56595, 0.11554, 1.57744 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "e91955faab2b4a60ac33f48771b21c54", "path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "AKYXQY5IP7S0Z:3ZY8KE4ISL6D2SCID7EPEP28W7AVQD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.61908, 0.11554, -5.28603 ], "start_rotation": [ 0, 0.26782, 0, -0.96347 ], "object_category": "sink", "info": { "geodesic_distance": 6.16038, "euclidean_distance": 2.68133, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.5893, 0.11554, -3.77745 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "0_edge_534_newN_0", "path": [ "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AOG0PUCLMU0HH:3TK8OJTYM3OS2GB3DUZ0EKCYRCWPVQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.8522, -4.04874, -15.93397 ], "start_rotation": [ 0, 0.96345, 0, -0.26788 ], "object_category": "sink", "info": { "geodesic_distance": 16.23496, "euclidean_distance": 12.35589, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.73438, -3.08446, -4.42819 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "d8404ae7e4a045c29e8a991181424a01", [ "74230db02c1748bb89b3ada696cb5deb" ], "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2TUUIV61CR0C7:3X4MXAO0BIRQTIRNGW8L5HVR2ULWRJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.97282, -3.88853, -12.70643 ], "start_rotation": [ 0, 0.86565, 0, -0.50065 ], "object_category": "table", "info": { "geodesic_distance": 20.85179, "euclidean_distance": 9.96259, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.41169, -3.08446, -6.36819 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", [ "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A3KC26Z78FBOJT:3NGI5ARFTV8CG4V56GFB7W5HM0Z1PP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.76849, -4.0733, -21.51114 ], "start_rotation": [ 0, 0.74731, 0, 0.66448 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 19.49639, "euclidean_distance": 15.59925, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.85396, -3.08446, -6.8576 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "refined_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:3BXQMRHWK11M4YPQGOX31UGKBOPUM2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.11147, -0.68446, -16.46648 ], "start_rotation": [ 0, 0.99825, 0, -0.0592 ], "object_category": "bed", "info": { "geodesic_distance": 17.10815, "euclidean_distance": 15.5307, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.81645, 0.11554, -2.70342 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "5ef3c89e80bd44288091527d30458d16", "path": [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "AIIOT9A7ARQZW:38BQUHLA9Y3RRT5TK2LU2OOVT66MOU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.64344, 0.11554, -5.50384 ], "start_rotation": [ 0, 0.69655, 0, 0.71751 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.01374, "euclidean_distance": 7.3148, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.2517, 0.11554, -1.00427 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", [ "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3EFVCAY5L5CY5TCSAOJ6PA6E7TYJ8G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.29493, -3.0427, -6.53182 ], "start_rotation": [ 0, 0.97702, 0, -0.21314 ], "object_category": "chair", "info": { "geodesic_distance": 21.09378, "euclidean_distance": 16.10143, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.61605, -3.93265, -21.76914 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_272_newN_0", "path": [ "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", "0_edge_88_newN_1", "4d53b2df82b3494a80822eba94c31f2f", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0" ], "0_edge_88_newN_1", [ "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571" ], "56afcfda8a6b45b499770f816eb67944", [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad" ], "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A39EZ7V9T25RZO:3ATPCQ38JAD2J606TM4NVORXXMNYAY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.48656, -0.65164, -13.63235 ], "start_rotation": [ 0, 0.05879, 0, 0.99827 ], "object_category": "sink", "info": { "geodesic_distance": 8.26218, "euclidean_distance": 7.09305, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.46661, 0.11554, -6.55603 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "0_edge_333_newN_0", "path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", [ "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A16K7X677N4WN6:3XCC1ODXDNEL9LV14N9FDSD5EU0RQ8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.19075, 3.11554, -2.43538 ], "start_rotation": [ 0, 0.91902, 0, 0.39422 ], "object_category": "towel", "info": { "geodesic_distance": 13.79524, "euclidean_distance": 12.15725, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.11236, 3.11554, -7.48619 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A2R0YYUAWNT7UD:34YB12FSQ0R3ZGOVWJ8MXFFTY5NGMB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.46382, 3.11554, -6.37753 ], "start_rotation": [ 0, 0.99808, 0, -0.06186 ], "object_category": "bed", "info": { "geodesic_distance": 4.27093, "euclidean_distance": 3.97914, "closest_goal_object_id": 956, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.75919, 2.6975, -10.29541 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "5260f113c5f542a8b6b115cbdfc9fef5", "path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", [ "e1ff49c1e5114971af1f3f6df0c155b2" ], "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ] }, { "episode_id": "A2TUUIV61CR0C7:3IQ1VMJRYVNNI5SYLAC7W7Y64RO9AE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.81181, -0.68446, -12.31714 ], "start_rotation": [ 0, 0.98386, 0, -0.17895 ], "object_category": "toilet", "info": { "geodesic_distance": 14.96774, "euclidean_distance": 14.24846, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.67292, 0.11554, 1.56078 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "f7d0095f6ae347d7b4d6f1b653005f4c", "path": [ "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A3O5RKGH6VB19C:32EYX73OY2CD1E2ILWTKNTAUEIARUK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.67403, 3.11554, -6.61849 ], "start_rotation": [ 0, 0.22578, 0, 0.97418 ], "object_category": "plant", "info": { "geodesic_distance": 2.58433, "euclidean_distance": 2.36755, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.08105, 3.11554, -6.09809 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "5260f113c5f542a8b6b115cbdfc9fef5", "path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0" ], "refined_path": [ "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "4f94dc20bae044b289358e718e8c5b05", [ "ef98e16224ae4151a0f5e69ec03916f7" ], "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", [ "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0" ] ] }, { "episode_id": "AZPZDX26SYMFY:3Y4W8Q93L1NJDJ8D8L85EQV9DMGDV9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.38814, -3.88867, -20.70827 ], "start_rotation": [ 0, 0.36947, 0, -0.92924 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.28417, "euclidean_distance": 15.89079, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89047, -3.08446, -6.77754 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:37WLF8U1WRT6CZZMZUMK6BAZ28QK62", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.63131, -3.08446, -7.40972 ], "start_rotation": [ 0, 0.61605, 0, -0.7877 ], "object_category": "chair", "info": { "geodesic_distance": 19.79917, "euclidean_distance": 14.87065, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.57906, -3.93385, -21.74639 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "372d9c5a8d394815a470573708b4f8cd", "path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "7afcf1ae63e842e6900e23f8bdaeea3a" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571" ], "56afcfda8a6b45b499770f816eb67944", [ "74230db02c1748bb89b3ada696cb5deb" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", [ "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b" ], "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A3BRY2LVVQGP3H:3NL0RFNU0HQSXCV8G6T59DQMN9MK4M", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.69071, -0.68446, -17.39976 ], "start_rotation": [ 0, 0.80178, 0, -0.59763 ], "object_category": "counter", "info": { "geodesic_distance": 13.56667, "euclidean_distance": 12.16789, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.83761, 0.11554, -9.02713 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3VA45EW49PQUV4J4RG2WIW0SVRB1OT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.89506, 0.11554, 0.14312 ], "start_rotation": [ 0, 0.953, 0, -0.30296 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.03598, "euclidean_distance": 3.098, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.46252, 0.11554, -2.96779 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "7a42af4caa814affbce3c5325c0eb181", "path": [ "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3FSDH6HUZPNQ8:32KTQ2V7RFIOK61NID2C5YT6Y36M9U", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.87302, -0.68446, -17.59341 ], "start_rotation": [ 0, 0.85221, 0, 0.52319 ], "object_category": "bed", "info": { "geodesic_distance": 19.08415, "euclidean_distance": 17.37748, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.0242, 0.11554, -2.6343 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "7d91f15f7b2d4c18b45ece193eabb9a3", "path": [ "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "b0e31a5d1f254167a442608bb1b1eadc", "cd0f3ba84a5f4885a6b2f8626db0f0d0", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "b0e31a5d1f254167a442608bb1b1eadc", "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "7d91f15f7b2d4c18b45ece193eabb9a3", "8d3e229a4b574c5d9cb86d2099f49d86", "b0e31a5d1f254167a442608bb1b1eadc", "cd0f3ba84a5f4885a6b2f8626db0f0d0", [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3" ], "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2TUUIV61CR0C7:37TRT2X24SUH7RAZD03GGCWFF90JBG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.55858, -3.93862, -12.50248 ], "start_rotation": [ 0, 0.88594, 0, 0.46381 ], "object_category": "table", "info": { "geodesic_distance": 22.02382, "euclidean_distance": 11.94529, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.45226, -3.08446, -6.39005 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a" ], "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:37XITHEISYCHFKLIZ58KTNONTM2RC1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.7572, -2.92437, -7.70279 ], "start_rotation": [ 0, 0.85284, 0, -0.52218 ], "object_category": "chair", "info": { "geodesic_distance": 21.69801, "euclidean_distance": 15.20196, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.52683, -3.94143, -21.68185 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_384_newN_1", "path": [ "0_edge_384_newN_1", "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_385_newN_0", "f40e599480664537833ee44fea373731", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_384_newN_1", "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_385_newN_0", "f40e599480664537833ee44fea373731", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "0_edge_384_newN_1", "af8dfeff482f4fa1b70bb1f470791f6f", "0_edge_385_newN_0", "f40e599480664537833ee44fea373731", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AZPZDX26SYMFY:3UWN2HHPU08C73IM3KH3Z8NWVGTNSS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.62244, 3.11554, -7.58807 ], "start_rotation": [ 0, 0.15185, 0, 0.9884 ], "object_category": "shower", "info": { "geodesic_distance": 10.9659, "euclidean_distance": 9.23014, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.53718, 3.11554, -2.77528 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "6dbb762da390463f83fc26b02e723259", "path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3PFU4042GIQLE:3Z7EFSHGNBH1CG7U84ECI5ABSXMCX3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.12027, 3.11554, -0.30577 ], "start_rotation": [ 0, 0.77234, 0, 0.6352 ], "object_category": "plant", "info": { "geodesic_distance": 8.5733, "euclidean_distance": 7.25924, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.24604, 3.11554, -1.52537 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "0_edge_261_newN_0", "path": [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_439_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0" ], "refined_path": [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", [ "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", [ "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0" ] }, { "episode_id": "A75XDPFNICR3T:3NS0A6KXC6B3YNNEB8YG5HB2HMAZGA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.91258, -3.08446, -6.58792 ], "start_rotation": [ 0, 0.98747, 0, -0.15779 ], "object_category": "picture", "info": { "geodesic_distance": 5.52371, "euclidean_distance": 5.21221, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.87259, -3.00761, -3.24786 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3V8LIMUUJWUTL:3Y4W8Q93L1NJDJ8D8L85EQV8Z5XDVC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.71081, 0.11554, -4.2975 ], "start_rotation": [ 0, 0.93673, 0, -0.35007 ], "object_category": "stool", "info": { "geodesic_distance": 8.20208, "euclidean_distance": 5.98088, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.99019, 0.11554, -8.55161 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "5a63b57ef203489e9536ab9c3694f3e6", "path": [ "5a63b57ef203489e9536ab9c3694f3e6", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "5a63b57ef203489e9536ab9c3694f3e6", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "5a63b57ef203489e9536ab9c3694f3e6", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A3APKUC67F9IMW:30OG32W0SWEBXKD42PXYARJHUVVNEE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.18083, -3.88446, -12.61727 ], "start_rotation": [ 0, 0.39238, 0, 0.9198 ], "object_category": "sink", "info": { "geodesic_distance": 10.92541, "euclidean_distance": 9.95201, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.67548, -3.08446, -4.47944 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5" ], "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A9K0CV70JWG1W:3OB0CAO74JSHTT8KZSEFCAE1MFGYHK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.92885, -4.08446, -20.7937 ], "start_rotation": [ 0, 0.6622, 0, 0.74933 ], "object_category": "sofa", "info": { "geodesic_distance": 3.44792, "euclidean_distance": 3.20807, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.09861, -3.96323, -21.51796 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3HL2LL0LEPZT8:34S9DKFK75S93PUV2Q9SHUBXC65YN7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.51389, 0.11554, -3.01153 ], "start_rotation": [ 0, 0.9263, 0, -0.37679 ], "object_category": "seating", "info": { "geodesic_distance": 10.54539, "euclidean_distance": 9.63198, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.83097, 0.11554, 1.30313 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_515_newN_0", "path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0" ], "refined_path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0" ] }, { "episode_id": "A1C8FN01981A69:3C6FJU71TSWMYFE4ZRLEVP3RKY8UYX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.55017, -3.08446, -8.63361 ], "start_rotation": [ 0, 0.30226, 0, 0.95323 ], "object_category": "shower", "info": { "geodesic_distance": 9.27324, "euclidean_distance": 8.67057, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.21195, -3.08446, -4.27157 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "b634b67520bf4c579f044a8e433b021d", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "4d53b2df82b3494a80822eba94c31f2f", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", [ "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", [ "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6" ], "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f" ], "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AD1ILDUXZHASF:3TAYZSBPLNBGIHTTH1JJ7KKYHRRS24", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.13651, -4.03676, -15.35782 ], "start_rotation": [ 0, 0.95176, 0, -0.30684 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 20.67033, "euclidean_distance": 13.44814, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.91299, -3.08446, -6.80148 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:3J2UYBXQQNF4Z9SIV1C2NRVQM3260K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.15098, -3.70493, -10.66223 ], "start_rotation": [ 0, 0.35451, 0, -0.93505 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 25.40783, "euclidean_distance": 12.91884, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.77712, -3.08446, -6.7835 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "AJTLLYV8O5FQU:3DY46V3X3RL7BCE5NO89CGDIQF555A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.32234, 0.11554, -6.45932 ], "start_rotation": [ 0, 0.71438, 0, 0.69976 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.66369, "euclidean_distance": 6.9365, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.02071, 0.11554, -3.5005 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "5fc192b8dd7b496db4925aaa16f60821", "path": [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "3229309326224f1b93f98c1ed36594da", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A2L26DMSVUEDP6:3QFUFYSY90IHHQ3UFV28T0YGWET4F9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.65215, 0.11554, -5.19922 ], "start_rotation": [ 0, 0.57473, 0, 0.81834 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.58218, "euclidean_distance": 2.28881, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.98632, 0.11554, -3.50908 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "701006439c3f44239c348b0b92833ca3", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_576_newN_0" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", [ "f873b983498b4e18bb5acfade836f2cf" ], "701006439c3f44239c348b0b92833ca3", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:373ERPL3YQBY11NTLR3AIXOSVY4TRK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -21.00679, 0.11554, -1.61807 ], "start_rotation": [ 0, 0.66965, 0, -0.74268 ], "object_category": "picture", "info": { "geodesic_distance": 3.96047, "euclidean_distance": 3.31456, "closest_goal_object_id": 530, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.41718, 0.11554, 0.46744 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "3bb211c9aabb496c8c5474f242e71a4f", "path": [ "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2" ], "refined_path": [ "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_515_newN_0", [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0" ], "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2" ] }, { "episode_id": "AKYXQY5IP7S0Z:3COPXFW7XDFEM5HREQLTCB1HB27KPT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.87932, -3.82792, -13.33258 ], "start_rotation": [ 0, 0.69411, 0, -0.71987 ], "object_category": "shower", "info": { "geodesic_distance": 9.60793, "euclidean_distance": 8.45607, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.81613, -3.88446, -18.12491 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "b634b67520bf4c579f044a8e433b021d", "path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690" ], "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3N2BF7Y2VSXHZCJ6GPQ4IFRUHJNMHZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.65572, 3.11554, -5.68935 ], "start_rotation": [ 0, 0.16877, 0, 0.98566 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.65313, "euclidean_distance": 7.90468, "closest_goal_object_id": 969, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.00008, 2.73588, -10.00299 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3BXQMRHWK11M4YPQGOX31UGKBSRUMC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.48879, 3.11554, -1.51792 ], "start_rotation": [ 0, 0.89413, 0, -0.4478 ], "object_category": "seating", "info": { "geodesic_distance": 5.91519, "euclidean_distance": 5.24211, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.73701, 3.11554, -6.7705 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "ea6f8b054a3b493482b183a6e92b9aa7", "path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0" ], "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A1ZE52NWZPN85P:37U1UTWH9XPF3HV5ITSFR1S41F88R5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.03992, -3.86491, -10.33135 ], "start_rotation": [ 0, 0.13666, 0, -0.99062 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.40728, "euclidean_distance": 6.07224, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.57326, -3.08446, -4.76131 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A1P3HHEXWNLJMP:33TIN5LC06DOENQ11GQNZTGD4CIY9P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.77563, -0.68446, -14.65584 ], "start_rotation": [ 0, 0.92523, 0, 0.37942 ], "object_category": "bed", "info": { "geodesic_distance": 14.54984, "euclidean_distance": 12.90224, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.91467, 0.11554, -2.73833 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "55ecd451adf344d88152d33d56d88413", "path": [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A2KOR4003SVNC5:3JWH6J9I9UGDQH1KSYV89JDWOT6BND", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.89462, 0.11554, 7.51697 ], "start_rotation": [ 0, 0.9527, 0, 0.30392 ], "object_category": "cabinet", "info": { "geodesic_distance": 14.05404, "euclidean_distance": 12.93808, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.50148, 0.11554, -3.03631 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_447_newN_1", "path": [ "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "refined_path": [ "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ] }, { "episode_id": "A1P3HHEXWNLJMP:3Z4AIRP3C8GHPDXWS7PS19RL4WYX1B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.68609, 3.11554, -2.12468 ], "start_rotation": [ 0, 0.80269, 0, -0.5964 ], "object_category": "table", "info": { "geodesic_distance": 8.22277, "euclidean_distance": 6.99129, "closest_goal_object_id": 792, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.81827, 3.11554, -3.14506 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7bcfa9163bbc47e489988d011b395a35", "path": [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "0_edge_115_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "refined_path": [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ] ] }, { "episode_id": "A3TYCJO2DG3RMH:30LSNF239WYRO3QXCPP53IEBBNLI2P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.9511, 0.11554, -3.90993 ], "start_rotation": [ 0, 0.82839, 0, -0.56016 ], "object_category": "sofa", "info": { "geodesic_distance": 11.27693, "euclidean_distance": 8.59749, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.8241, -0.55363, -10.86719 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "d837361a192a46f796fa084b58952201", "path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "refined_path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ] ] }, { "episode_id": "A2L26DMSVUEDP6:3TDXMTX3CDXF649YZR18TVVNBKXI6K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.26952, -3.08446, -8.21799 ], "start_rotation": [ 0, 0.86461, 0, -0.50244 ], "object_category": "sink", "info": { "geodesic_distance": 9.60496, "euclidean_distance": 8.47689, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.70374, -3.08446, -4.38562 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:37W3JXSD68BZQJ39UR0FDDOO2QKYWM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.82794, 0.11554, 4.87438 ], "start_rotation": [ 0, 0.73758, 0, 0.67525 ], "object_category": "towel", "info": { "geodesic_distance": 9.36627, "euclidean_distance": 7.61565, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.47228, 0.11554, -0.39798 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_347_newN_1", "path": [ "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_202_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", [ "dfb6d728749e4dbb9116902a8f2dd6eb" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ] }, { "episode_id": "AIOOOO5OXWXKM:3HSYG7LRBL1DBEKB1YGLGUFIHS0KKR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.82509, -3.79086, -12.94904 ], "start_rotation": [ 0, 0.47153, 0, 0.88185 ], "object_category": "table", "info": { "geodesic_distance": 8.93587, "euclidean_distance": 7.51898, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.36182, -3.08446, -6.26081 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3YT88D1N0A17FGC4GSOMZ8YG96AK3F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.51456, -3.88446, -10.49442 ], "start_rotation": [ 0, 0.76934, 0, -0.63885 ], "object_category": "cushion", "info": { "geodesic_distance": 6.62707, "euclidean_distance": 4.71893, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.47101, -3.08446, -6.26313 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A5A14MTB35J23:3IXQG4FA2V1S1FXQROC3RIICM7HB9F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.25423, -0.68446, -18.47125 ], "start_rotation": [ 0, 0.66476, 0, 0.74706 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.69236, "euclidean_distance": 9.36333, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.49071, -0.68446, -11.05627 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:31JLPPHS2WXQ57XJEKGF6PFOCTF3OU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.00901, -3.08446, -5.3861 ], "start_rotation": [ 0, 0.8094, 0, -0.58726 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.7856, "euclidean_distance": 7.35994, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.65406, -3.08446, -4.83611 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "9925e8e8fcbe469a875d7ebca3452d4f", "path": [ "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "b3fb49d922374aaf81242f21d39d214d", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "refined_path": [ "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f" ], "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ] }, { "episode_id": "A3RR85PK3AV9TU:3VHP9MDGRPNKCUG98A8QCYA54Z4CFM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.76895, 0.11554, -1.07485 ], "start_rotation": [ 0, 0.32944, 0, -0.94418 ], "object_category": "towel", "info": { "geodesic_distance": 14.40745, "euclidean_distance": 13.65998, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.51793, 0.11554, -0.34889 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3KYQYYSHYXAONZZG79MRJY101ZAOD3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.3188, -0.68446, -16.04117 ], "start_rotation": [ 0, 0.5896, 0, -0.80769 ], "object_category": "toilet", "info": { "geodesic_distance": 19.78133, "euclidean_distance": 18.50087, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.51653, 0.11554, 1.52936 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "5ef3c89e80bd44288091527d30458d16", "path": [ "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:388U7OUMF94XLSQ2NPF0YMMNYNSR0R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.85129, -3.95571, -12.82578 ], "start_rotation": [ 0, 0.97478, 0, 0.22317 ], "object_category": "picture", "info": { "geodesic_distance": 22.6057, "euclidean_distance": 10.8071, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.98693, -2.98366, -3.19221 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0_edge_272_newN_1", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a" ], "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A1RQLE4ZMTU22A:3WRFBPLXRCR8NMX7D5G2R0FJMI03N3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.06064, 3.11554, -3.48217 ], "start_rotation": [ 0, 0.82638, 0, 0.56312 ], "object_category": "cushion", "info": { "geodesic_distance": 11.75183, "euclidean_distance": 10.69027, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.8201, 3.11554, -0.72226 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A1198W1SPF1R4:3GDTJDAPVWEO61IDDLWY52YVB4ZM8R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.46508, 0.11554, -3.19901 ], "start_rotation": [ 0, 0.97639, 0, 0.21603 ], "object_category": "counter", "info": { "geodesic_distance": 4.13017, "euclidean_distance": 3.87315, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.97917, 0.11554, -6.18841 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "2ba3d353cffb46eda191ea81569608f7", "path": [ "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "0_edge_153_newN_1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "refined_path": [ "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1" ] }, { "episode_id": "A2FUNB3BUB3U07:30H4UDGLT4L9CTHUZ2Y9ROTL3BUMP3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.18382, 0.11554, 1.65112 ], "start_rotation": [ 0, 0.88606, 0, 0.46358 ], "object_category": "sink", "info": { "geodesic_distance": 6.70509, "euclidean_distance": 5.66942, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.66284, 0.11554, 2.45969 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3TMSXRD2X8320DS6I2T6ZQDEVTDW10", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.35342, 0.11554, 1.50669 ], "start_rotation": [ 0, 0.93304, 0, -0.35978 ], "object_category": "table", "info": { "geodesic_distance": 6.56885, "euclidean_distance": 5.2272, "closest_goal_object_id": 628, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.8975, 0.11554, -2.28888 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0405db8320e24c3abb2f1e7c3ce52810", "path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "refined_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3JJVG1YBED090SVEOYZMF2D9JVM5BR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.91126, -3.84677, -12.01043 ], "start_rotation": [ 0, 0.99054, 0, 0.1372 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 9.80977, "euclidean_distance": 8.06347, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.98355, -3.08446, -6.86712 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3HHRAGRYXA8CK9MZVTHPX2IBQ4HO96", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.53729, -4.08446, -18.13052 ], "start_rotation": [ 0, 0.95367, 0, 0.30085 ], "object_category": "cabinet", "info": { "geodesic_distance": 15.40437, "euclidean_distance": 13.50311, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.60657, -3.08446, -4.74488 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AOG0PUCLMU0HH:3180JW2OT6FFIBTQCQC3DQWN5D5J56", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.84472, 0.11554, -3.5611 ], "start_rotation": [ 0, 0.06023, 0, -0.99818 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.99365, "euclidean_distance": 6.16017, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.58223, 0.11554, -5.87883 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_509_newN_1", "path": [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821" ] }, { "episode_id": "A1P3HHEXWNLJMP:3FIUS151DX5376S9LGARKAVWQLFGGZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.56042, 0.11554, 0.11366 ], "start_rotation": [ 0, 0.93735, 0, -0.3484 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.18119, "euclidean_distance": 5.14424, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.58547, 0.11554, 1.64127 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "ee987ba0e8ee44c1a95ff0f958f31791", "path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "5713992a192a40a1a32c11a12873791d", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", [ "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "AOMFEAWQHU3D8:3B3WTRP3DD5YD2XU8VJSQPF8P9E29R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.80876, -3.08446, -9.01993 ], "start_rotation": [ 0, 0.57333, 0, 0.81932 ], "object_category": "sink", "info": { "geodesic_distance": 10.36081, "euclidean_distance": 9.33592, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.64289, -3.08446, -4.26998 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "64303f8d3b624128929cd6451d0db37b", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "64303f8d3b624128929cd6451d0db37b", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "64303f8d3b624128929cd6451d0db37b", [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:32KTQ2V7RFIOK61NID2C5YT6V2Y9M4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.26715, 3.11554, -8.49743 ], "start_rotation": [ 0, 0.52993, 0, 0.84804 ], "object_category": "cushion", "info": { "geodesic_distance": 16.78489, "euclidean_distance": 10.9099, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.69328, 3.11554, -0.50221 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "ee51e32e785e4649ae13c9152ec68893", "path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A2R0YYUAWNT7UD:3ON104KXQMZJSCPP5KC8XOKH7JIW4K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.83211, 3.11554, -1.94982 ], "start_rotation": [ 0, 0.57801, 0, -0.81603 ], "object_category": "stool", "info": { "geodesic_distance": 14.19218, "euclidean_distance": 12.07375, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.98942, 3.11554, -2.38356 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "5e83ef2965d445d18d539afdda8b88e5", "path": [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_112_newN_1", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", [ "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42" ], "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", [ "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A3GWRDHAURRNK6:339ANSOTR75M5JUN1VV93E05PNIIKJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.3389, 3.11554, -4.10007 ], "start_rotation": [ 0, 0.82975, 0, 0.55813 ], "object_category": "shower", "info": { "geodesic_distance": 6.06477, "euclidean_distance": 4.37968, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.49484, 3.11554, -2.68818 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "dcbc89b871b54cdd98d8b59b700d44a3", "path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "dcbc89b871b54cdd98d8b59b700d44a3" ], "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3GWRDHAURRNK6:3QXNC7EIPKYRHSUGT8FE71MSEJ709I", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.26474, -4.00122, -13.80278 ], "start_rotation": [ 0, 0.06818, 0, 0.99767 ], "object_category": "table", "info": { "geodesic_distance": 20.89593, "euclidean_distance": 12.43898, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.46278, -3.08446, -6.35288 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ] ] }, { "episode_id": "A2DDPSXH2X96RF:3K3R2QNK8D67XE6WRFTYW8AZSOVU9T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.80384, -4.03555, -19.01678 ], "start_rotation": [ 0, 0.72, 0, -0.69397 ], "object_category": "cabinet", "info": { "geodesic_distance": 17.99856, "euclidean_distance": 15.1497, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.5889, -3.08446, -4.9458 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WLEIWSYHQKRS8FD677K36DWBGB2HX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.05165, -3.8982, -17.34915 ], "start_rotation": [ 0, 0.77481, 0, -0.63219 ], "object_category": "toilet", "info": { "geodesic_distance": 17.99186, "euclidean_distance": 13.89347, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.80875, -3.08446, -5.46725 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:39U1BHVTDNU6IZ2RA12E0ZLCSIPT3G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.52845, 3.14194, -0.56014 ], "start_rotation": [ 0, 0.6268, 0, 0.77918 ], "object_category": "chair", "info": { "geodesic_distance": 2.54363, "euclidean_distance": 2.27385, "closest_goal_object_id": 892, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.2884, 3.11554, -2.42625 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "673c93ec5cfd45efb87f064bd4723f8d", "path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "refined_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", [ "dec940911e0a44e7b51b8fa218fb3550" ] ] }, { "episode_id": "AD1ILDUXZHASF:3OVHNO1VE840M3DN9IX8ZW851XRZD0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.62588, -0.68446, -18.44858 ], "start_rotation": [ 0, 0.4545, 0, -0.89074 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.0734, "euclidean_distance": 8.97947, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.57263, -0.68446, -10.91881 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "165270ae7e7746c28500dd0fc3f84960", "path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_565_newN_2", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0" ], "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "A1ZE52NWZPN85P:3BQU611VFRN9DMITT4Y70CNLFG199N", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.74576, -0.68446, -18.61185 ], "start_rotation": [ 0, 0.84182, 0, 0.53976 ], "object_category": "toilet", "info": { "geodesic_distance": 23.58506, "euclidean_distance": 22.13283, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.60479, 0.11554, 1.64224 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A19C2SO0IMRZ1L:3UWN2HHPU08C73IM3KH3Z8NWSMRSN4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.09333, -0.50714, -13.73218 ], "start_rotation": [ 0, 0.02767, 0, 0.99962 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.39299, "euclidean_distance": 3.04233, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.50609, -0.68446, -11.06741 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_469_newN_1", "path": [ "0_edge_469_newN_1", "0_edge_469_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "173a50fdd7d14bbb9475f84357ecae45", "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0bee565558544262b0368f2a92702677" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_469_newN_1", "0_edge_469_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "0_edge_469_newN_1", "0_edge_469_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "173a50fdd7d14bbb9475f84357ecae45", [ "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f" ], "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", [ "f873b983498b4e18bb5acfade836f2cf" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0" ], "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3J4Q2Z4UT06QHHCN3HJL0RLM3GIQWO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.73891, 0.11554, -1.02566 ], "start_rotation": [ 0, 0.74968, 0, 0.6618 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.12724, "euclidean_distance": 8.58237, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.15092, 0.11554, -0.95862 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "c8ce61375bc8403691ec503de5401235", "path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "95c9fb86dcb14fcabab35769b14beb1e", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235" ], "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A3GWRDHAURRNK6:3WRFBPLXRCR8NMX7D5G2R0FJK0MN37", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.03992, -3.86491, -10.33135 ], "start_rotation": [ 0, 0.13666, 0, -0.99062 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.40728, "euclidean_distance": 6.07224, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.57326, -3.08446, -4.76131 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2TUUIV61CR0C7:34YB12FSQ0R3ZGOVWJ8MXFFSL44MGH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.18258, 3.11554, -3.87488 ], "start_rotation": [ 0, 0.38487, 0, 0.92297 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.06162, "euclidean_distance": 3.06735, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.94468, 3.11554, -2.54234 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_439_newN_0", "path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "refined_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "episode_id": "A75XDPFNICR3T:3K4J6M3CXGW2XFF6ZGIHOOKT5BBGAF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.96025, 2.51554, -14.04714 ], "start_rotation": [ 0, 0.97739, 0, 0.21144 ], "object_category": "toilet", "info": { "geodesic_distance": 7.33397, "euclidean_distance": 6.84228, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.19002, 3.11554, -7.54138 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_198_newN_0", "path": [ "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac" ], "refined_path": [ "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1" ], "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac" ] }, { "episode_id": "AOG0PUCLMU0HH:3FIUS151DX5376S9LGARKAVW360GG3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.79571, 3.11554, -3.1519 ], "start_rotation": [ 0, 0.5831, 0, -0.8124 ], "object_category": "toilet", "info": { "geodesic_distance": 4.22401, "euclidean_distance": 3.14696, "closest_goal_object_id": 862, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.2008, 3.11554, -5.2823 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_16_newN_0", "path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "refined_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ] }, { "episode_id": "A21ZK49H9LSSRY:3Q5ZZ9ZEVQIQYUX7LMFCO0N9PE158M", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.48086, 3.11554, -2.13912 ], "start_rotation": [ 0, 0.97716, 0, 0.21249 ], "object_category": "toilet", "info": { "geodesic_distance": 3.48341, "euclidean_distance": 3.11961, "closest_goal_object_id": 862, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.15871, 3.11554, -5.28744 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "refined_path": [ "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ] }, { "episode_id": "A1P3HHEXWNLJMP:3EA3QWIZ4KYL82KAV49145N181XITF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -0.26503, 3.11554, -0.28343 ], "start_rotation": [ 0, 0.26753, 0, -0.96355 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.0148, "euclidean_distance": 6.59389, "closest_goal_object_id": 873, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.59595, 3.11554, -5.29117 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0" ], "refined_path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0" ] }, { "episode_id": "A5WWHKD82I8UE:3UWN2HHPU08C73IM3KH3Z8NWVGQNSP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.91016, 3.11554, -5.68602 ], "start_rotation": [ 0, 0.11274, 0, -0.99362 ], "object_category": "sofa", "info": { "geodesic_distance": 8.80006, "euclidean_distance": 7.30005, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.69199, 2.51554, -13.03683 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_215_newN_0", "path": [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_130_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0" ] }, { "episode_id": "AZPZDX26SYMFY:3PM8NZGV80J56HHDDMF72AZTBW8QXS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.84063, -4.08446, -15.83391 ], "start_rotation": [ 0, 0.73301, 0, 0.68021 ], "object_category": "sofa", "info": { "geodesic_distance": 6.27485, "euclidean_distance": 5.20785, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.17564, -3.88446, -20.73045 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A3T5UAYFKJBVTA:37Q970SNZGB9TWBXYXJ521ASB3X1S0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.75395, -3.78746, -12.14315 ], "start_rotation": [ 0, 0.76213, 0, -0.64742 ], "object_category": "picture", "info": { "geodesic_distance": 24.3767, "euclidean_distance": 11.243, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.02228, -3.01675, -3.37483 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1" ], "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A33VGSEJ44ORMF:3OXV7EAXLGT0G1RFEOULPPTY8E836H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.77697, -0.68446, -17.66091 ], "start_rotation": [ 0, 0.89005, 0, 0.45587 ], "object_category": "counter", "info": { "geodesic_distance": 13.75756, "euclidean_distance": 12.41142, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.92394, 0.11554, -8.95878 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A5A14MTB35J23:3VAR3R6G1R4C643PQ1BBX6N05MG8OT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.97291, 0.11554, -3.07022 ], "start_rotation": [ 0, 0.78872, 0, 0.61475 ], "object_category": "sofa", "info": { "geodesic_distance": 4.91506, "euclidean_distance": 4.55371, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.40277, 0.11554, 0.65606 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "945b55df8540463ba66ab57abbed4869", "path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "refined_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3RYC5T2D75W099UM4AUQDNNV66QRP6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.08138, -3.74232, -13.887 ], "start_rotation": [ 0, 0.97663, 0, 0.21493 ], "object_category": "toilet", "info": { "geodesic_distance": 10.75423, "euclidean_distance": 9.01762, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.83458, -3.08446, -5.55826 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A1NLDZ3T0S2CX:3X3OR7WPZ1340J0SD9VJ5PJ6BXC8LA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.29674, -3.38718, -8.94709 ], "start_rotation": [ 0, 0.99926, 0, -0.0384 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 6.43149, "euclidean_distance": 4.96712, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.84645, -3.08446, -6.76689 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "a5adbda8c1314346a5dc10d9e0f3f908", "path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3T5UAYFKJBVTA:3X66WABAJYL2DUGLQ1371G6MLCRG3X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.83153, -3.88064, -10.1638 ], "start_rotation": [ 0, 0.7912, 0, 0.61156 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 7.8542, "euclidean_distance": 5.30637, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.78787, -3.08446, -6.77436 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "AKYXQY5IP7S0Z:32Z9ZLUT1NN5ZF4IT55HAJGZ9SXHOJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.34446, 0.11554, -7.36128 ], "start_rotation": [ 0, 0.56811, 0, -0.82295 ], "object_category": "toilet", "info": { "geodesic_distance": 9.95476, "euclidean_distance": 9.31158, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66192, 0.11554, 1.55867 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_521_newN_0", "path": [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3TUI152ZZDQXGGWK6TU071VS7S01Q5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.68253, -3.89299, -12.32968 ], "start_rotation": [ 0, 0.04278, 0, 0.99908 ], "object_category": "table", "info": { "geodesic_distance": 21.31861, "euclidean_distance": 10.28829, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.40513, -3.08446, -6.40215 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ] ] }, { "episode_id": "A35CL66BEUSJ5Z:3KGTPGBS6ZOWXULX66EJML2M5LQU2X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.11348, -0.01963, -9.61659 ], "start_rotation": [ 0, 0.62754, 0, -0.77858 ], "object_category": "table", "info": { "geodesic_distance": 1.36014, "euclidean_distance": 1.28907, "closest_goal_object_id": 223, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.03834, -0.53679, -10.4983 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0_edge_355_newN_1", "path": [ "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "refined_path": [ "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ] }, { "episode_id": "AOMFEAWQHU3D8:3B4YI393VBZ9NGARBGYPY2X2IK7SSP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.61117, -0.68446, -20.17038 ], "start_rotation": [ 0, 0.99947, 0, 0.03262 ], "object_category": "toilet", "info": { "geodesic_distance": 25.56773, "euclidean_distance": 23.90864, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.52205, 0.11554, 1.54125 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_46_newN_0", "path": [ "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A28U7B76HLCS1U:3WLEIWSYHQKRS8FD677K36DWBA0H2P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.83731, 3.11554, -1.71645 ], "start_rotation": [ 0, 0.38857, 0, 0.92142 ], "object_category": "chair", "info": { "geodesic_distance": 10.44635, "euclidean_distance": 8.89342, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.98325, 3.11554, -1.65012 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "eb3774d7d7c9470ca3ef2727c4cb58a7", "path": [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A5WWHKD82I8UE:33ISQZVXPRPD9IWZH8IP4SP2ADSCCC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.01948, 2.51554, -13.3504 ], "start_rotation": [ 0, 0.67342, 0, 0.73926 ], "object_category": "stool", "info": { "geodesic_distance": 14.30677, "euclidean_distance": 13.00548, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.03023, 3.11554, -2.32032 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "be542a5895594a1d98592023855f3a30", "path": [ "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", [ "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3" ], "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A9K0CV70JWG1W:3NC5L260MQPLLJDCYFHH7Y4MSQ4OF1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.84831, 0.11554, -6.52742 ], "start_rotation": [ 0, 0.13483, 0, 0.99087 ], "object_category": "bed", "info": { "geodesic_distance": 7.49372, "euclidean_distance": 7.06537, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.80764, 0.11554, -2.72728 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "cfb40a8a73414375a43798a7133d28c4", "path": [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "0_edge_152_newN_0", "0_edge_476_newN_0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A2MCG5W6LHSRG9:3DUZQ9U6SORPF8RV5B3U9PH9HP4VS2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.52478, 0.11554, 2.49504 ], "start_rotation": [ 0, 0.86815, 0, -0.49631 ], "object_category": "toilet", "info": { "geodesic_distance": 11.98685, "euclidean_distance": 8.6528, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.60472, 0.11554, -0.65607 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ] }, { "episode_id": "A1ZE52NWZPN85P:39LOEL67OU8NKFA373RJ93POVBQ83J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.68858, -2.92037, -4.17434 ], "start_rotation": [ 0, 0.97809, 0, -0.20818 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 7.8794, "euclidean_distance": 7.2974, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.96203, -3.08446, -6.81723 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "8a2aeda8632c4fb38e51733e873ae813", "path": [ "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", [ "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:3LEIZ60CDL2OJD06X2S6D0PFA80Z9Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.15109, -3.84012, -13.28771 ], "start_rotation": [ 0, 0.49341, 0, 0.8698 ], "object_category": "picture", "info": { "geodesic_distance": 10.73088, "euclidean_distance": 10.05636, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.0125, -3.01716, -3.40519 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AOWW3URQNRJ6U:3Y9N9SS8L0EZ1A6UOB2ZVV3QP1RD3H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.73566, 0.11554, 0.8617 ], "start_rotation": [ 0, 0.96673, 0, -0.25579 ], "object_category": "seating", "info": { "geodesic_distance": 3.0663, "euclidean_distance": 2.86969, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.95236, 0.11554, 1.12917 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_202_newN_0", "path": [ "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd" ], "refined_path": [ "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67" ], "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", [ "add7a68256564d1b85b560fb614beedd" ] ] }, { "episode_id": "AD1ILDUXZHASF:3YMU66OBIPBH72NK5MS95A7XLXRGH1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -0.7535, 3.11554, -3.86048 ], "start_rotation": [ 0, 0.99754, 0, -0.07007 ], "object_category": "counter", "info": { "geodesic_distance": 6.76328, "euclidean_distance": 5.83721, "closest_goal_object_id": 828, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.35853, 3.11554, -5.00096 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8" ], "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A29CNQYJWMJ7G9:3JAOYWH7VK74EOJ2I11X5LEHVPW9LA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.78621, -2.9648, -3.17662 ], "start_rotation": [ 0, 0.53449, 0, 0.84517 ], "object_category": "chair", "info": { "geodesic_distance": 20.92669, "euclidean_distance": 18.59621, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.58033, -3.94126, -21.70618 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "6c8219cd4bf549b8a0bf58ba7b0f61e4", "path": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A29CNQYJWMJ7G9:3X31TUMD7ZPMPJG7EOM4QFWYKE1L1V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.80933, 3.11554, -1.92343 ], "start_rotation": [ 0, 0.89885, 0, -0.43825 ], "object_category": "seating", "info": { "geodesic_distance": 8.47046, "euclidean_distance": 7.82317, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.62549, 3.11554, -6.82088 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "eb3774d7d7c9470ca3ef2727c4cb58a7", "path": [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6e0c4533325b431db69bee9e850f3d07", "cf0febb3e6eb495daa0ef1ba776548ac", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A21ZK49H9LSSRY:36W0OB37HYHHYJIPVEGYQHN3TKIZHX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.188, -4.05477, -14.92407 ], "start_rotation": [ 0, 0.89826, 0, 0.43946 ], "object_category": "cushion", "info": { "geodesic_distance": 20.12383, "euclidean_distance": 12.99341, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.5125, -3.08446, -6.30208 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_88_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a" ], "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3RYC5T2D75W099UM4AUQDNNUQT4PRA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.33961, -3.92076, -17.22977 ], "start_rotation": [ 0, 0.80451, 0, 0.59393 ], "object_category": "cabinet", "info": { "geodesic_distance": 15.65498, "euclidean_distance": 12.99184, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.59301, -3.08446, -4.82855 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb" ], "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A1P3HHEXWNLJMP:3TXMY6UCAGRH3J6IMQJKOXEJEUZCQR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.0125, 0.11554, -5.75269 ], "start_rotation": [ 0, 0.80918, 0, 0.58756 ], "object_category": "towel", "info": { "geodesic_distance": 18.20309, "euclidean_distance": 15.38988, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.5349, 0.11554, -0.37743 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "8b5fb14f2f854a4ea7f05d76adf7a9d9", "path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3LEIZ60CDL2OJD06X2S6D0PFDB19ZJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.62405, 0.11554, -8.84708 ], "start_rotation": [ 0, 0.81298, 0, -0.58229 ], "object_category": "sink", "info": { "geodesic_distance": 2.47283, "euclidean_distance": 2.34811, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.33522, 0.11554, -6.65111 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "0_edge_355_newN_1", "path": [ "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A1J3ON3YLGJAM6:30H4UDGLT4L9CTHUZ2Y9ROTL3APPMZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.55875, -3.88446, -18.22941 ], "start_rotation": [ 0, 0.86517, 0, 0.50149 ], "object_category": "picture", "info": { "geodesic_distance": 20.23084, "euclidean_distance": 15.42757, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.91142, -3.00101, -3.23263 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AIIOT9A7ARQZW:3MD9PLUKKKH98F40YCBBV1KZF7VNZK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.14588, 3.11554, -2.81801 ], "start_rotation": [ 0, 0.7658, 0, -0.64308 ], "object_category": "sink", "info": { "geodesic_distance": 4.60488, "euclidean_distance": 4.16153, "closest_goal_object_id": 868, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.38978, 3.11554, -5.94443 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "31eced24029c4dacad2bba2b1a2b7af9", "path": [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A75XDPFNICR3T:3TYCR1GOTEMJKF1FMZVWI9GAA6VLZ4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.99685, 3.11554, -2.91234 ], "start_rotation": [ 0, 0.97137, 0, 0.23756 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.46901, "euclidean_distance": 2.96367, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.02282, 3.11554, -2.52402 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3PWWM24LHU1YZXEK33DEQTKXSJW82R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.57195, 3.11554, -3.79751 ], "start_rotation": [ 0, 0.44438, 0, -0.89584 ], "object_category": "bathtub", "info": { "geodesic_distance": 3.2143, "euclidean_distance": 2.16909, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.34063, 3.11554, -2.38054 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2TUUIV61CR0C7:39LNWE0K4WZ08FZZV9ZB9193RFIIUK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.3184, 0.11554, 0.31272 ], "start_rotation": [ 0, 0.76704, 0, 0.64159 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.49048, "euclidean_distance": 3.34116, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.43587, 0.11554, -3.07051 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_190_newN_1", "path": [ "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A28U7B76HLCS1U:3LRLIPTPESC7Z1BPP73WMGCMFK1AK8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.23346, 0.11554, 1.25851 ], "start_rotation": [ 0, 0.99092, 0, -0.13448 ], "object_category": "sink", "info": { "geodesic_distance": 1.72397, "euclidean_distance": 1.3094, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.52926, 0.11554, 2.3981 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ] }, { "episode_id": "A28U7B76HLCS1U:3IXEICO794M5FIP9T30C72XW2EK6T2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.16321, -3.78178, -13.8552 ], "start_rotation": [ 0, 0.42088, 0, -0.90712 ], "object_category": "toilet", "info": { "geodesic_distance": 10.70132, "euclidean_distance": 9.43305, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.79412, -3.08446, -5.53769 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A29CNQYJWMJ7G9:3OS46CRSLH2KSATYYY0R8KLGI6YV60", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.89941, -4.08446, -19.54729 ], "start_rotation": [ 0, 0.6345, 0, 0.77293 ], "object_category": "chair", "info": { "geodesic_distance": 2.81193, "euclidean_distance": 2.61894, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.38644, -3.94647, -21.59271 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3H7XDTSHKEUZ4SI90LE96DHK0H1GWQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.80635, 0.11554, -7.53192 ], "start_rotation": [ 0, 0.47275, 0, -0.8812 ], "object_category": "bed", "info": { "geodesic_distance": 10.48055, "euclidean_distance": 4.78744, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.92022, 0.11554, -2.65829 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "12_edge_486_newN_0", "path": [ "12_edge_486_newN_0", "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "12_edge_486_newN_0", "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "12_edge_486_newN_0", "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3DZQRBDBSNI53ZPCL1XOQUPP75P3S6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.04652, 3.11554, -5.67514 ], "start_rotation": [ 0, 0.55417, 0, 0.8324 ], "object_category": "plant", "info": { "geodesic_distance": 3.33162, "euclidean_distance": 1.85287, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.18684, 3.11554, -6.10716 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A1P3HHEXWNLJMP:3HPZF4IVNOWQCLX4D00E1JHLAX7YCS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.56301, -3.08446, -6.38617 ], "start_rotation": [ 0, 0.21878, 0, 0.97577 ], "object_category": "shower", "info": { "geodesic_distance": 6.91279, "euclidean_distance": 5.89925, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.05269, -3.08446, -4.17123 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "b3fb49d922374aaf81242f21d39d214d", "path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A5WWHKD82I8UE:32UTUBMZ7IZQYMATUPHZJ079DZWVBB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.11105, 0.11554, -6.48559 ], "start_rotation": [ 0, 0.59462, 0, 0.80401 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.45839, "euclidean_distance": 6.75532, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.94538, 0.11554, -3.58831 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "1495db5760cf415299116892de94695a", "path": [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740" ], "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ] }, { "episode_id": "A2AAY4VT9L71SY:3K9FOBBF2JMP3QNWJBK2NM913R4NL7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.14756, -3.78865, -13.2119 ], "start_rotation": [ 0, 0.56228, 0, -0.82695 ], "object_category": "sink", "info": { "geodesic_distance": 10.72532, "euclidean_distance": 9.54619, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.72288, -3.08446, -4.43463 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "AJQGWGESKQT4Y:3WJ1OXY92CJN409OGI6TWB3VKK6A8O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.85022, 0.11554, 4.18265 ], "start_rotation": [ 0, 0.97832, 0, 0.20711 ], "object_category": "counter", "info": { "geodesic_distance": 10.54137, "euclidean_distance": 9.97112, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.15689, 0.11554, -5.69911 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "6993d4826f644c37b5632edde130ab67", "path": [ "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", [ "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3NG53N1RLXMUR4FQ51OQM6SQG2UP8W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.4876, 0.11554, 3.46551 ], "start_rotation": [ 0, 0.48444, 0, -0.87482 ], "object_category": "cushion", "info": { "geodesic_distance": 3.21927, "euclidean_distance": 2.93244, "closest_goal_object_id": 344, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.38227, 0.11554, 0.70619 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "23deb5b68d61426cb0cce5578e05cc8c", "path": [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ], "refined_path": [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:3JMSRU9HQKXO5PMD4GJPK8DTZ89VEG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.88351, -2.91726, -3.15211 ], "start_rotation": [ 0, 0.96582, 0, -0.25923 ], "object_category": "bed", "info": { "geodesic_distance": 9.79918, "euclidean_distance": 7.63092, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.54808, -3.88446, -9.86516 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0952da4444d04fd3a33c406da20d6f8e", "path": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "A1NLDZ3T0S2CX:3TMFV4NEPAHKBDCRHN2LE00M94G8W3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.27385, -3.89231, -12.56722 ], "start_rotation": [ 0, 0.94298, 0, -0.33286 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 24.01447, "euclidean_distance": 13.73975, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.93806, -3.08446, -6.8762 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A26LOVXF4QZZCO:3J2UYBXQQNF4Z9SIV1C2NRVR26560B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.803, -0.68446, -18.29042 ], "start_rotation": [ 0, 0.25013, 0, 0.96821 ], "object_category": "counter", "info": { "geodesic_distance": 11.55774, "euclidean_distance": 10.53719, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.95668, 0.11554, -8.94198 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A302KOFOYLD89A:3WMOAN2SRD0SZVZQXFM8AV73UKBVNT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.46071, 3.11554, -7.37357 ], "start_rotation": [ 0, 0.97244, 0, -0.23317 ], "object_category": "bed", "info": { "geodesic_distance": 8.27628, "euclidean_distance": 7.43019, "closest_goal_object_id": 956, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.65324, 2.67101, -10.34184 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ] }, { "episode_id": "A3GWRDHAURRNK6:3STRJBFXOYUCEXAYV7UDHL2DKZ4TKP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.0218, 3.11554, -8.20141 ], "start_rotation": [ 0, 0.49052, 0, -0.87143 ], "object_category": "bed", "info": { "geodesic_distance": 5.41602, "euclidean_distance": 2.63397, "closest_goal_object_id": 956, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.60007, 2.65619, -10.33237 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "ee51e32e785e4649ae13c9152ec68893", "path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "refined_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3SB5N7Y3O576W2HO7ELOZI8GZDAG0E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.97786, 0.11554, 2.65706 ], "start_rotation": [ 0, 0.9999, 0, 0.01417 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.94289, "euclidean_distance": 5.60802, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.434, 0.11554, -3.08699 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "310ded38502647188e97b980b77c2472", "path": [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "refined_path": [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ] }, { "episode_id": "A2TUUIV61CR0C7:388U7OUMF94XLSQ2NPF0YMMMIXU0R4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.38142, 0.11554, -6.29131 ], "start_rotation": [ 0, 0.01057, 0, 0.99994 ], "object_category": "towel", "info": { "geodesic_distance": 15.95774, "euclidean_distance": 10.82855, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.5105, 0.11554, -0.40943 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "5fc192b8dd7b496db4925aaa16f60821", "path": [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "a0b14b141fcd42ac8c56f66ede5be8b0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", [ "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0" ], "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3OB0CAO74JSHTT8KZSEFCAE07VIYH1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.25731, -0.68446, -17.68801 ], "start_rotation": [ 0, 0.83407, 0, 0.55166 ], "object_category": "counter", "info": { "geodesic_distance": 10.32235, "euclidean_distance": 9.3573, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.87931, 0.11554, -9.05804 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "ae452693af47490ea50fd1057b04337d", "path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A1P3HHEXWNLJMP:3JZQSN0I3SDXT6WEAW492PVJO1IFGP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.28401, -4.08446, -15.90182 ], "start_rotation": [ 0, 0.99813, 0, 0.06108 ], "object_category": "picture", "info": { "geodesic_distance": 21.61415, "euclidean_distance": 13.77638, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.93487, -3.01717, -3.28629 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "APGX2WZ59OWDN:3ZGVPD4G6VK73S9KV8XN40QRR53TZW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.28359, -4.07567, -15.94777 ], "start_rotation": [ 0, 0.97647, 0, 0.21564 ], "object_category": "sink", "info": { "geodesic_distance": 15.67078, "euclidean_distance": 12.19382, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.69761, -3.08446, -4.26143 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1NSHNH3MNFRGW:3YZ8UPK3VVP9VCDZ3Z3PYYB814HUCO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.31126, 0.11554, 3.56387 ], "start_rotation": [ 0, 0.79194, 0, -0.6106 ], "object_category": "towel", "info": { "geodesic_distance": 12.63738, "euclidean_distance": 9.88633, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.54248, 0.11554, -0.36391 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", [ "b0a3ea6e7efb429eab0d0ede3174f906" ], "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", [ "769866f82e6b4388b8b63023532685e0" ], "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A2MCG5W6LHSRG9:33L7PJKHCI1SJW8XMIXARGTN85KT8D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.86727, -2.88446, -3.72413 ], "start_rotation": [ 0, 0.13985, 0, 0.99017 ], "object_category": "cushion", "info": { "geodesic_distance": 2.6097, "euclidean_distance": 2.39129, "closest_goal_object_id": 87, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.99984, -2.88446, -2.45905 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_435_newN_1", "path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3GWRDHAURRNK6:3NC5L260MQPLLJDCYFHH7Y4LDV6FON", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.66087, 0.11554, 5.2314 ], "start_rotation": [ 0, 0.13696, 0, 0.99058 ], "object_category": "bed", "info": { "geodesic_distance": 12.83544, "euclidean_distance": 9.99546, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.16927, 0.11554, -1.40642 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A31BA1WLSWUSY1:3KB8R4ZV1GA7GPKY5UIDJZ4ZA8RGBM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.52502, 3.11554, -3.19201 ], "start_rotation": [ 0, 0.95248, 0, 0.3046 ], "object_category": "plant", "info": { "geodesic_distance": 6.04004, "euclidean_distance": 2.90362, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.98217, 3.11554, -6.03027 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "ba3d3163aa4a4211a0bda0b7adf07b60", "path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "54507d559ab2427982e8021989d48e50" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1" ], "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", [ "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42" ], "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A1R0689JPSQ3OF:39GXDJN2OVH7WOCMRDXPSYH7O42V86", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.49672, -0.68446, -16.72889 ], "start_rotation": [ 0, 0.99311, 0, 0.1172 ], "object_category": "bed", "info": { "geodesic_distance": 16.75611, "euclidean_distance": 14.46595, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.00014, 0.11554, -2.73819 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "45e5c21ecc32454b9390fca6c7d78316", "path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A1ZE52NWZPN85P:352YTHGROXG1VMU0ALQ8WLAUFHT4HB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.67876, -0.34843, -3.34344 ], "start_rotation": [ 0, 0.98486, 0, -0.17332 ], "object_category": "sink", "info": { "geodesic_distance": 5.15297, "euclidean_distance": 4.85286, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.46362, 0.11554, -3.70448 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "4ae7d442d7504317a44d3b939be2cacc", "path": [ "4ae7d442d7504317a44d3b939be2cacc", "0_edge_169_newN_0", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "4ae7d442d7504317a44d3b939be2cacc", "0_edge_169_newN_0", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "4ae7d442d7504317a44d3b939be2cacc", "0_edge_169_newN_0", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A2TUUIV61CR0C7:3OLQQLKKNUSFEUMJNR56HK20L5PJET", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.20331, -0.56998, -10.24075 ], "start_rotation": [ 0, 0.74861, 0, -0.66301 ], "object_category": "chair", "info": { "geodesic_distance": 3.96766, "euclidean_distance": 3.56723, "closest_goal_object_id": 308, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.05206, 0.11554, -8.73293 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "d1174dbd13454385b8a23cb15725b9a0", "path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00" ], "refined_path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3HMIGG0U4N9O0I7RWOK9ZXL2N7E8YT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.17934, -3.08446, -8.91725 ], "start_rotation": [ 0, 0.02413, 0, -0.99971 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.21291, "euclidean_distance": 9.45299, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.59745, -3.08446, -4.93326 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ] }, { "episode_id": "A3GWRDHAURRNK6:39LOEL67OU8NKFA373RJ93POVCD838", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.80983, 0.11554, -6.3382 ], "start_rotation": [ 0, 0.99872, 0, -0.05051 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.68435, "euclidean_distance": 3.267, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.0558, 0.11554, -3.57703 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "ca485cbdb9c247a0b7b964a0589c4311", "path": [ "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AK35CJJEYFVYK:3Z7ISHFUH2YO58HWSAMSD4U3A0UZ80", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.28973, -3.9338, -14.3336 ], "start_rotation": [ 0, 0.94002, 0, 0.34111 ], "object_category": "picture", "info": { "geodesic_distance": 20.54822, "euclidean_distance": 11.61061, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.99113, -3.0171, -3.34173 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A28U7B76HLCS1U:3NGI5ARFTV8CG4V56GFB7W5I5WI1PL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.04137, -3.88446, -10.80938 ], "start_rotation": [ 0, 0.61376, 0, 0.78949 ], "object_category": "cushion", "info": { "geodesic_distance": 7.17641, "euclidean_distance": 4.83307, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.59544, -3.08446, -6.3671 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "38808050304946dfb262966b02c6ae4e", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PH3VY7DJN0ZV9DEQD2YRKXQB8BZWG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.09336, 3.22794, -7.57904 ], "start_rotation": [ 0, 0.96682, 0, -0.25544 ], "object_category": "shower", "info": { "geodesic_distance": 20.22144, "euclidean_distance": 15.19859, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.48174, 3.11554, -2.68332 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "a0b14b141fcd42ac8c56f66ede5be8b0", "path": [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3HL2LL0LEPZT8:3PJUZCGDJ8J9ZHZJOCST0GSAXGA983", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.34264, 3.11554, -0.25563 ], "start_rotation": [ 0, 0.00036, 0, 1 ], "object_category": "cabinet", "info": { "geodesic_distance": 5.6579, "euclidean_distance": 5.0555, "closest_goal_object_id": 873, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.57357, 3.11554, -5.39861 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "577717ce6ca248799fa9bcece8f9d32e", "path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "dec940911e0a44e7b51b8fa218fb3550", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "6dbb762da390463f83fc26b02e723259" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "refined_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259" ] }, { "episode_id": "A2TUUIV61CR0C7:3H7XDTSHKEUZ4SI90LE96DHKXOTWG9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.63606, 0.11554, 2.74037 ], "start_rotation": [ 0, 0.37719, 0, 0.92614 ], "object_category": "stool", "info": { "geodesic_distance": 7.68225, "euclidean_distance": 2.44047, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.86054, 0.11554, 3.5765 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A2TUUIV61CR0C7:3YMTUJH0DUJR0VLVAF7XA4DIQ9GT4Y", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.58391, 0.11554, -2.48193 ], "start_rotation": [ 0, 0.67577, 0, -0.73711 ], "object_category": "counter", "info": { "geodesic_distance": 3.66717, "euclidean_distance": 3.46931, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.11398, 0.11554, -5.70134 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "c8ce61375bc8403691ec503de5401235", "path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "A2TUUIV61CR0C7:3SNVL38CI6VVSG8N9LZNSB2AFMMCKA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.76059, 3.11554, -3.69666 ], "start_rotation": [ 0, 0.47979, 0, 0.87738 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.96298, "euclidean_distance": 2.74168, "closest_goal_object_id": 917, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -1.16004, 3.11554, -3.10898 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8" ], "refined_path": [ "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3YDGXNSEO1X82BT77HW2J8HVCWG849", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.26811, -0.68446, -14.67429 ], "start_rotation": [ 0, 0.09052, 0, 0.99589 ], "object_category": "counter", "info": { "geodesic_distance": 6.86933, "euclidean_distance": 5.90801, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.9015, 0.11554, -8.92698 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "55ecd451adf344d88152d33d56d88413", "path": [ "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", [ "a406b9208ade4d0d859368e1ec14564f" ], "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3RR85PK3AV9TU:39LOEL67OU8NKFA373RJ93POXSZ38N", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.69076, -3.86969, -13.51309 ], "start_rotation": [ 0, 0.88757, 0, 0.46067 ], "object_category": "picture", "info": { "geodesic_distance": 11.11607, "euclidean_distance": 10.31093, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.9719, -3.00475, -3.24243 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", [ "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A1198W1SPF1R4:39OWYR0EPMUXFXHE42QF9P2O7NIYFC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.54974, -3.72444, -14.26868 ], "start_rotation": [ 0, 0.99421, 0, -0.10747 ], "object_category": "toilet", "info": { "geodesic_distance": 11.17959, "euclidean_distance": 9.20351, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.88178, -3.08446, -5.60477 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A13WYZ8AXD6ODX:3AWETUDC94VHUET91WYJQTOIWX9IZO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.84781, -2.88446, -1.55065 ], "start_rotation": [ 0, 0.81164, 0, 0.58416 ], "object_category": "cushion", "info": { "geodesic_distance": 4.80537, "euclidean_distance": 2.98868, "closest_goal_object_id": 87, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.01465, -2.88446, -2.69228 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_88_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "0_edge_88_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3QL2OFSM98LW0MTQ6YR3K3JE6L1NC5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.21217, 0.11554, -2.53761 ], "start_rotation": [ 0, 0.88437, 0, -0.46679 ], "object_category": "plant", "info": { "geodesic_distance": 6.41947, "euclidean_distance": 6.01671, "closest_goal_object_id": 508, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.34707, 0.11554, 3.28117 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "945b55df8540463ba66ab57abbed4869", "path": [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "refined_path": [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0" ], "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "episode_id": "AKYXQY5IP7S0Z:3DH6GAKTY0S3KE8E5EKMCHI6J67YZN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.92419, -3.08446, -5.67906 ], "start_rotation": [ 0, 0.24741, 0, 0.96891 ], "object_category": "sofa", "info": { "geodesic_distance": 3.40516, "euclidean_distance": 2.69825, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.87619, -2.88446, -3.92293 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "ad24c52938c34a25b7a7c694d4769f30", "path": [ "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3DPNQGW4LNILYXAJE2Z4ZUL4MBK46D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.11102, 0.11554, 2.28276 ], "start_rotation": [ 0, 0.34671, 0, 0.93797 ], "object_category": "shower", "info": { "geodesic_distance": 6.3428, "euclidean_distance": 5.12894, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.48816, 0.11554, -0.41978 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_343_newN_0", "path": [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A36QGCT3MMXC4Q:3NJM2BJS4Y9W3753MD4VOSO96TZCP9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.49886, 0.11554, 2.1103 ], "start_rotation": [ 0, 0.33407, 0, -0.94255 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.81944, "euclidean_distance": 5.1459, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.4021, 0.11554, -3.02239 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "0_edge_191_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", [ "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd" ], "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A2DDPSXH2X96RF:3X87C8JFV8EXA0VEJC9K32I0J34QSB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.86467, -3.08446, -5.71236 ], "start_rotation": [ 0, 0.23385, 0, -0.97227 ], "object_category": "chair", "info": { "geodesic_distance": 21.88317, "euclidean_distance": 17.01315, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.51684, -3.94238, -21.67225 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "248dcb819089462a98fd16c5d7676fd7", "path": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0f0c966446e24bdc958349d0d9c3e09e", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7" ], "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "372d9c5a8d394815a470573708b4f8cd" ], "0f0c966446e24bdc958349d0d9c3e09e", [ "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d" ], "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3L2IS5HSFCLSMGAQSPC3E95KDFQNUL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.72841, -3.88446, -10.34349 ], "start_rotation": [ 0, 0.83616, 0, -0.54849 ], "object_category": "table", "info": { "geodesic_distance": 6.74206, "euclidean_distance": 5.98738, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.45335, -3.08446, -6.33961 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A3G3TIX6FEMN8R:338JKRMM282GXBAHJM0Z9OWUNY1AHY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.67678, 0.11554, 3.14512 ], "start_rotation": [ 0, 0.54476, 0, -0.83859 ], "object_category": "sofa", "info": { "geodesic_distance": 4.99506, "euclidean_distance": 3.20307, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.97519, 0.11554, 0.86714 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3RKNTXVS3O1MLZMM4FGGFZNP17R4AR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.77017, -3.86528, -10.61424 ], "start_rotation": [ 0, 0.93223, 0, -0.36186 ], "object_category": "sofa", "info": { "geodesic_distance": 9.07766, "euclidean_distance": 8.55128, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.88258, -2.88446, -3.81776 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3ZSANO2JCHA0JB555WYQR3ENTPZSFI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.02828, 3.11554, -8.70151 ], "start_rotation": [ 0, 0.98776, 0, -0.15595 ], "object_category": "sofa", "info": { "geodesic_distance": 8.30112, "euclidean_distance": 4.30998, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.73702, 2.51554, -12.84057 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "ee51e32e785e4649ae13c9152ec68893", "path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "0_edge_130_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0" ] }, { "episode_id": "A29CNQYJWMJ7G9:3TPWUS5F8B4MNG24YZIQGMW4J49WC5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.82989, -3.08446, -7.05498 ], "start_rotation": [ 0, 0.62436, 0, -0.78113 ], "object_category": "chair", "info": { "geodesic_distance": 19.29887, "euclidean_distance": 16.44267, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.6181, -3.9346, -21.75931 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "b634b67520bf4c579f044a8e433b021d", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1", [ "0_edge_88_newN_0" ], "51d499bdd9794c669f6e8eeb4ab54052", [ "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2" ], "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AIOOOO5OXWXKM:33M4IA01QI45IIWDQ147709XUGUXR1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.6539, -3.88446, -18.92252 ], "start_rotation": [ 0, 0.74918, 0, -0.66236 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 19.88836, "euclidean_distance": 15.04886, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.95783, -3.08446, -6.8082 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3C7COPV48I37D:3ND9UOO81M5FQKWABCBPJ5MRDZXWL3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.59042, -3.08446, -6.57453 ], "start_rotation": [ 0, 0.94066, 0, -0.33935 ], "object_category": "table", "info": { "geodesic_distance": 7.38545, "euclidean_distance": 2.48924, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.47519, -2.88446, -4.23337 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", [ "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:3EJJQNKU9T88WSWYLXML4EL4KFVRHG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.85984, 3.29151, -8.08553 ], "start_rotation": [ 0, 0.85746, 0, 0.51455 ], "object_category": "towel", "info": { "geodesic_distance": 18.02824, "euclidean_distance": 12.41526, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.20908, 3.11554, -7.47498 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "ba9624a97ad74614968e00edc698f4c7", "path": [ "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_439_newN_1", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3CPLWGV3MQ2U2OMNUEHCIDI60SZN99", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.59708, 0.11554, 5.73793 ], "start_rotation": [ 0, 0.83668, 0, 0.54769 ], "object_category": "shower", "info": { "geodesic_distance": 16.92684, "euclidean_distance": 3.35034, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.63968, 0.11554, 3.907 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_446_newN_1", "path": [ "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", [ "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] ] }, { "episode_id": "A3V8LIMUUJWUTL:3EA3QWIZ4KYL82KAV49145N1VSTTIR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.11828, -3.69568, -15.08026 ], "start_rotation": [ 0, 0.42875, 0, -0.90342 ], "object_category": "sink", "info": { "geodesic_distance": 12.71075, "euclidean_distance": 10.86319, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.65649, -3.08446, -4.32461 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3R5OJR60C6004:3OLQQLKKNUSFEUMJNR56HK205W9JEF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.05975, -0.6758, -11.92517 ], "start_rotation": [ 0, 0.34988, 0, -0.93679 ], "object_category": "counter", "info": { "geodesic_distance": 6.4005, "euclidean_distance": 5.12153, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.86996, 0.11554, -9.0267 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_609_newN_1", "path": [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ] ] }, { "episode_id": "A75XDPFNICR3T:3634BBTX0QXBPX290K4CN180H4BIFH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.163, 3.11554, -1.5516 ], "start_rotation": [ 0, 0.59346, 0, -0.80486 ], "object_category": "towel", "info": { "geodesic_distance": 11.6144, "euclidean_distance": 7.68339, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.27901, 3.11554, -7.58629 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", [ "31e2ead1db884aa0974a21674f83b488" ], "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443" ] }, { "episode_id": "A26LOVXF4QZZCO:3JAOYWH7VK74EOJ2I11X5LEGHHEL98", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.43111, -3.84978, -11.455 ], "start_rotation": [ 0, 0.96972, 0, 0.24421 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.66741, "euclidean_distance": 6.93134, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.64407, -3.08446, -4.93242 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", [ "0_edge_88_newN_0" ] ] }, { "episode_id": "A9K0CV70JWG1W:3IUZPWIU1QA46EESQCZO459D73YKWN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.77518, -0.68446, -16.36762 ], "start_rotation": [ 0, 0.76994, 0, 0.63811 ], "object_category": "seating", "info": { "geodesic_distance": 12.47281, "euclidean_distance": 11.46495, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.35131, 0.11554, -8.58337 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_471_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_471_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ] }, { "episode_id": "A6U5ZHN5Y953Q:3COPXFW7XDFEM5HREQLTCB1HYS7PK1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.05557, 3.11554, -5.49503 ], "start_rotation": [ 0, 0.46415, 0, -0.88576 ], "object_category": "counter", "info": { "geodesic_distance": 4.51367, "euclidean_distance": 2.48215, "closest_goal_object_id": 828, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.34173, 3.11554, -4.98445 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "00e65e341f5843d385964e17103e6ae3", "path": [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "refined_path": [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ] }, { "episode_id": "A3T5UAYFKJBVTA:3EQHHY4HQUV5R93P4KR0GD47GRK5GZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.04788, 0.11554, -7.86066 ], "start_rotation": [ 0, 0.82909, 0, 0.55912 ], "object_category": "towel", "info": { "geodesic_distance": 16.29333, "euclidean_distance": 10.54472, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.44361, 0.11554, -0.37356 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AZPZDX26SYMFY:3ND9UOO81M5FQKWABCBPJ5MSW2ALWW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.08713, -0.68446, -14.80021 ], "start_rotation": [ 0, 0.39107, 0, -0.92036 ], "object_category": "stool", "info": { "geodesic_distance": 5.42426, "euclidean_distance": 4.70855, "closest_goal_object_id": 222, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.47858, -0.68446, -15.18206 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", [ "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A3FSDH6HUZPNQ8:36DSNE9QZ711QLZ8H582MWWE9ZAOJL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.38011, 3.11554, -4.12946 ], "start_rotation": [ 0, 0.14333, 0, 0.98967 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.02176, "euclidean_distance": 6.12297, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.34525, 3.11554, -2.48328 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6f73ed74234145baac0b9b2854a95610", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A2KOR4003SVNC5:3TMSXRD2X8320DS6I2T6ZQDEVUUW1J", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.4861, 0.02561, 7.58914 ], "start_rotation": [ 0, 0.78336, 0, -0.62157 ], "object_category": "picture", "info": { "geodesic_distance": 8.01445, "euclidean_distance": 7.45827, "closest_goal_object_id": 631, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.78743, 0.11554, 0.53501 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29" ] }, { "episode_id": "A19C2SO0IMRZ1L:3BDCF01OGZXJFPRAQDTD42784CFYLE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.49328, -4.05588, -14.96286 ], "start_rotation": [ 0, 0.94427, 0, 0.32918 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 22.07883, "euclidean_distance": 14.28172, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.83284, -3.08446, -6.78091 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3L8LSM7V7KX3T:336KAV9KYSVDE352G7B8P68YIIR2YQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.64305, 3.11554, -3.05411 ], "start_rotation": [ 0, 0.56337, 0, -0.82621 ], "object_category": "towel", "info": { "geodesic_distance": 9.99081, "euclidean_distance": 4.624, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.14189, 3.11554, -7.47697 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A2TUUIV61CR0C7:31Q0U3WYDRINAYR5AULU7AEWMYR716", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.49869, 3.11554, -7.38174 ], "start_rotation": [ 0, 0.62336, 0, -0.78193 ], "object_category": "cushion", "info": { "geodesic_distance": 18.84056, "euclidean_distance": 8.89966, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.68056, 3.11554, -0.60468 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "6bd0017610ff445698c3aad76b4f9e12", "path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5" ], "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A3GWRDHAURRNK6:3QFUFYSY90IHHQ3UFV28T0YHZ0OF4S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.74889, 0.11554, -3.67946 ], "start_rotation": [ 0, 0.98461, 0, 0.17478 ], "object_category": "plant", "info": { "geodesic_distance": 7.59048, "euclidean_distance": 4.8767, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.39631, 0.11554, -8.36146 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "7a381be117474e159e339b7bcce0baf3", "path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "refined_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb" ] }, { "episode_id": "A3O5RKGH6VB19C:3TDXMTX3CDXF649YZR18TVVMA61I6T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.95129, -3.87005, -11.64151 ], "start_rotation": [ 0, 0.87591, 0, -0.48248 ], "object_category": "sofa", "info": { "geodesic_distance": 10.38911, "euclidean_distance": 9.85747, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.87933, -2.88446, -3.9351 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "b634b67520bf4c579f044a8e433b021d", "path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3C2NJ6JBKCKJ241O952X8QASXSB2NX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.63318, 0.11554, 2.70302 ], "start_rotation": [ 0, 0.72601, 0, -0.68769 ], "object_category": "bathtub", "info": { "geodesic_distance": 10.93204, "euclidean_distance": 4.15136, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.54251, 0.11554, 1.59291 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "b86db2322dcf44538d16e38cc789df6c", "path": [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A16184N1RO5OJV:3WZ36BJEV5JBLU64PUHKIIJODC4BTS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.22955, -3.08446, -6.15275 ], "start_rotation": [ 0, 0.55805, 0, -0.82981 ], "object_category": "bed", "info": { "geodesic_distance": 4.3715, "euclidean_distance": 3.8408, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.41556, -3.88446, -9.94188 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a08659774e5a42679b1fa25c23dfd623", "path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "349df9d6cf9647a38ec403d5fcffb690", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6" ], "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690" ], "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d" ] ] }, { "episode_id": "A2Q6L9LKSNU7EB:3MX2NQ3YCBXGDVYFTUR44Z412OX5X3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.64344, 0.11554, -9.12221 ], "start_rotation": [ 0, 0.87629, 0, 0.48178 ], "object_category": "sofa", "info": { "geodesic_distance": 2.82321, "euclidean_distance": 2.06075, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.74776, -0.55973, -10.83518 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_355_newN_0", "path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0" ], "refined_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0" ], "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3OCHAWUVGQNJVEJI0HVA6ONKDDMKXB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.55561, -0.60007, -12.26343 ], "start_rotation": [ 0, 0.34358, 0, -0.93912 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.26687, "euclidean_distance": 15.97664, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.51967, 0.11554, 1.62424 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_471_newN_0", "path": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A2MCG5W6LHSRG9:3ZWFC4W1UWAOIW5SQ7YL1T9R7OXRFC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.38592, 0.12542, 5.403 ], "start_rotation": [ 0, 0.29428, 0, 0.95572 ], "object_category": "cushion", "info": { "geodesic_distance": 7.58938, "euclidean_distance": 4.93033, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.16522, 0.11554, 1.2154 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "AK35CJJEYFVYK:3YT88D1N0A17FGC4GSOMZ8YFSJS3KN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.19472, 0.11554, -8.77759 ], "start_rotation": [ 0, 0.70203, 0, -0.71215 ], "object_category": "sofa", "info": { "geodesic_distance": 4.76045, "euclidean_distance": 4.32163, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.83738, -0.54251, -10.8117 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "6a57a23befa34262b84aa219156f1432", "path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "A3C7COPV48I37D:38F71OA9GVZXLGS0LZ24FUFGI7CMFO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.82129, 0.11554, -0.68769 ], "start_rotation": [ 0, 0.99999, 0, 0.00529 ], "object_category": "stool", "info": { "geodesic_distance": 9.60608, "euclidean_distance": 8.37963, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.98493, 0.11554, -8.47132 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "0_edge_446_newN_2", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df" ], "0_edge_446_newN_2", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", [ "8c874344710140e681d78c046d471afc" ], "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A3BRY2LVVQGP3H:384PI804XU49M7QF2EF5OWRJNS4S0I", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.96142, -3.88446, -20.5589 ], "start_rotation": [ 0, 0.92956, 0, -0.36868 ], "object_category": "sink", "info": { "geodesic_distance": 21.05362, "euclidean_distance": 17.7879, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.74604, -3.08446, -4.26724 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1NKBXOTZAI1YK:3M1CVSFP628TA49K2CNTI2OVABQAQZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.06192, 3.11554, -8.89245 ], "start_rotation": [ 0, 0.63141, 0, -0.77545 ], "object_category": "chair", "info": { "geodesic_distance": 5.6459, "euclidean_distance": 3.91813, "closest_goal_object_id": 960, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.89182, 2.84784, -9.72212 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "6bd0017610ff445698c3aad76b4f9e12", "path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A16K7X677N4WN6:3WQQ9FUS6CXSNAEGMW6PRMN12X8B8R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.19858, 0.11554, 5.1525 ], "start_rotation": [ 0, 0.46731, 0, -0.88409 ], "object_category": "bed", "info": { "geodesic_distance": 11.41534, "euclidean_distance": 8.0345, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.96186, 0.11554, -2.19268 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "9a65ec8ec80d41a492cf617c83b15ec6", "path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "95c9fb86dcb14fcabab35769b14beb1e", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "refined_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:34MAJL3QP6QM1EN1V016SR9K9KZ43L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.51887, -3.08446, -8.72505 ], "start_rotation": [ 0, 0.86478, 0, 0.50216 ], "object_category": "table", "info": { "geodesic_distance": 8.51304, "euclidean_distance": 4.49698, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.42604, -2.88446, -4.32314 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A3O5RKGH6VB19C:3I7DHKZYGP3ZD97UT0LIYS4UWI7F5O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.90264, -4.08208, -15.53404 ], "start_rotation": [ 0, 0.42827, 0, -0.90365 ], "object_category": "sink", "info": { "geodesic_distance": 22.34028, "euclidean_distance": 15.16454, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.6616, -3.08446, -4.46005 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2MCG5W6LHSRG9:39PAAFCODO3QU84AUB8KJUDVJ74VTB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.28448, 0.11554, 5.45308 ], "start_rotation": [ 0, 0.98199, 0, 0.18894 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.35952, "euclidean_distance": 4.6836, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.62658, 0.11554, 1.71548 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "9a65ec8ec80d41a492cf617c83b15ec6", "path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A3KC26Z78FBOJT:3HPZF4IVNOWQCLX4D00E1JHKTM1CYV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.08314, -3.94894, -13.19423 ], "start_rotation": [ 0, 0.25811, 0, -0.96612 ], "object_category": "sofa", "info": { "geodesic_distance": 7.6334, "euclidean_distance": 7.6334, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.09419, -3.88446, -20.67775 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A25FNSFSB048DL:3S0TNUHWKVLL27C00SXVMCB0MUKD83", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.93681, 0.11554, -0.73668 ], "start_rotation": [ 0, 0.99295, 0, -0.11857 ], "object_category": "bathtub", "info": { "geodesic_distance": 2.60117, "euclidean_distance": 2.34852, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66391, 0.11554, 1.67548 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A2TUUIV61CR0C7:34X6J5FLPV14BXCOWI06B1RE4DWJQY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.85636, 0.11554, 6.32031 ], "start_rotation": [ 0, 0.67716, 0, -0.73583 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.67422, "euclidean_distance": 9.68407, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.36452, 0.11554, -0.97687 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "8702672b13ef44ab85da7062d5647237", "path": [ "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", [ "8702672b13ef44ab85da7062d5647237" ], "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A39E9936894TJR:37XITHEISYCHFKLIZ58KTNOO7NDCRF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.36422, -4.08446, -19.39502 ], "start_rotation": [ 0, 0.17924, 0, -0.9838 ], "object_category": "sink", "info": { "geodesic_distance": 17.09917, "euclidean_distance": 15.19303, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.68302, -3.08446, -4.24431 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "b3fb49d922374aaf81242f21d39d214d", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", [ "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f" ], "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944" ], "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01" ], "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "bcc22ed579534ff590d554211dea0ee1", [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5" ], "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AIOOOO5OXWXKM:3J4Q2Z4UT06QHHCN3HJL0RLM69UQWP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.83646, -0.68446, -15.55117 ], "start_rotation": [ 0, 0.06645, 0, -0.99779 ], "object_category": "sink", "info": { "geodesic_distance": 9.63937, "euclidean_distance": 8.93961, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.45321, 0.11554, -6.58971 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "55ecd451adf344d88152d33d56d88413", "path": [ "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "refined_path": [ "45e5c21ecc32454b9390fca6c7d78316", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "episode_id": "A19C2SO0IMRZ1L:3RKNTXVS3O1MLZMM4FGGFZNQIXHA4M", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.42713, 0.17094, 5.12493 ], "start_rotation": [ 0, 0.19217, 0, -0.98136 ], "object_category": "stool", "info": { "geodesic_distance": 9.63872, "euclidean_distance": 4.76001, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.95212, 0.11554, 3.60108 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "fd1c630635a94f78878d5b13a63274bf", "path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A29CNQYJWMJ7G9:3IQ1VMJRYVNNI5SYLAC7W7Y6OD6A9P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.40103, -3.08446, -5.30675 ], "start_rotation": [ 0, 0.13368, 0, 0.99102 ], "object_category": "sink", "info": { "geodesic_distance": 4.04319, "euclidean_distance": 1.93014, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.65707, -3.08446, -4.33457 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "349df9d6cf9647a38ec403d5fcffb690", "path": [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690" ], "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3ZPPDN2SLXZQ8I9A1FETSQOXP5S9ED", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.80607, -0.68446, -14.75783 ], "start_rotation": [ 0, 0.79956, 0, -0.60058 ], "object_category": "sink", "info": { "geodesic_distance": 9.42039, "euclidean_distance": 8.25162, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.50881, 0.11554, -6.57625 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "a406b9208ade4d0d859368e1ec14564f", "path": [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3GWRDHAURRNK6:3NPI0JQDAQ8DPO7E8ZZLD2OCE9APTM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.33938, -0.5438, -10.42197 ], "start_rotation": [ 0, 0.93125, 0, 0.36437 ], "object_category": "bed", "info": { "geodesic_distance": 16.79201, "euclidean_distance": 12.99058, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.0464, 0.11554, -2.73681 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3DH6GAKTY0S3KE8E5EKMCHI6MI1YZ8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.7912, -3.88446, -9.91531 ], "start_rotation": [ 0, 0.0647, 0, 0.9979 ], "object_category": "picture", "info": { "geodesic_distance": 7.56683, "euclidean_distance": 7.02564, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.88221, -3.01239, -3.25944 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", [ "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3GWRDHAURRNK6:3Y54SXRO1NOQHTFAPLYFN8BBOEATU8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.45738, 3.11554, -5.56302 ], "start_rotation": [ 0, 0.41791, 0, 0.90849 ], "object_category": "cushion", "info": { "geodesic_distance": 6.51757, "euclidean_distance": 6.20669, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.7522, 3.11554, -0.57711 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "23d3a1b1dc134acc8ffa787e2ee558ed", "path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "40094a9ad3934b5cb69633e07e0bd6ab", [ "201e139a7dba42d494a8290754252134" ] ] }, { "episode_id": "A3R5OJR60C6004:3U8YCDAGXRJX9RB2AAQ0TWCHM090QY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.74323, -3.08446, -6.39855 ], "start_rotation": [ 0, 0.04857, 0, 0.99882 ], "object_category": "picture", "info": { "geodesic_distance": 6.07733, "euclidean_distance": 4.44229, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.90304, -3.01634, -3.26916 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "72e5cd657af64e8297f6ee20aa46edd5", "path": [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A1R0689JPSQ3OF:35BLDD71I80MGKD903X25IEC16DVZH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.88821, 0.11554, -1.97166 ], "start_rotation": [ 0, 0.58294, 0, -0.81251 ], "object_category": "counter", "info": { "geodesic_distance": 12.76585, "euclidean_distance": 6.06065, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.0981, 0.11554, -5.66008 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "769866f82e6b4388b8b63023532685e0", "path": [ "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", [ "769866f82e6b4388b8b63023532685e0" ], "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d", "0_edge_245_newN_1", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e" ], "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A2KOR4003SVNC5:32AT8R96GNCP2T2V0LTPD3FQ0K4SUK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.38246, 3.11554, -2.88807 ], "start_rotation": [ 0, 0.99939, 0, 0.03481 ], "object_category": "counter", "info": { "geodesic_distance": 4.77102, "euclidean_distance": 4.22946, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.28005, 3.11554, -6.77698 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A3T5UAYFKJBVTA:3PJUZCGDJ8J9ZHZJOCST0GSBE3G982", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.09008, 3.11554, -2.78349 ], "start_rotation": [ 0, 0.94738, 0, -0.3201 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.59065, "euclidean_distance": 7.1843, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.34693, 3.11554, -2.33486 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A2TUUIV61CR0C7:3137ONMDKI85NSWIFLK3K7AKP32EGQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.81284, 0.11554, -8.86427 ], "start_rotation": [ 0, 0.94699, 0, -0.32126 ], "object_category": "bed", "info": { "geodesic_distance": 8.73103, "euclidean_distance": 7.85949, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.90032, 0.11554, -2.68332 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_355_newN_0", "path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3NXNZ5RS1C05Z3U0E70NMGWGN8I97L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.14155, 0.11554, -6.01998 ], "start_rotation": [ 0, 0.32238, 0, -0.94661 ], "object_category": "towel", "info": { "geodesic_distance": 18.15477, "euclidean_distance": 12.63075, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.51266, 0.11554, -0.34574 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "cfb40a8a73414375a43798a7133d28c4", "path": [ "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740" ], "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3Z3ZLGNNSKXTQJAZTX8JVUAP5BS3QB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.82076, 0.11554, -8.50018 ], "start_rotation": [ 0, 0.7179, 0, 0.69615 ], "object_category": "bed", "info": { "geodesic_distance": 13.47187, "euclidean_distance": 12.36154, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.95572, 0.11554, -2.67244 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "0_edge_57_newN_0", "3229309326224f1b93f98c1ed36594da", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869" ] }, { "episode_id": "A3V8LIMUUJWUTL:3E337GFOLBB9HY9V8KNMAU4TR0HNG0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.60943, 0.11554, -4.23702 ], "start_rotation": [ 0, 0.31935, 0, -0.94764 ], "object_category": "towel", "info": { "geodesic_distance": 12.9293, "euclidean_distance": 7.85127, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.44003, 0.11554, -0.32594 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "eda4b648d33d436aa09516400af0de9b", "path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0bee565558544262b0368f2a92702677", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "3229309326224f1b93f98c1ed36594da", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", [ "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", [ "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "AZPZDX26SYMFY:3K3R2QNK8D67XE6WRFTYW8A08O29UX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.96478, -3.805, -12.62806 ], "start_rotation": [ 0, 0.55713, 0, -0.83042 ], "object_category": "shower", "info": { "geodesic_distance": 10.35356, "euclidean_distance": 9.25005, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.04073, -3.08446, -4.20149 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33LKR6A5KGNA8WOCNXOVC66FRPE1TE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.93478, -0.62042, -13.65036 ], "start_rotation": [ 0, 0.98767, 0, 0.15653 ], "object_category": "bed", "info": { "geodesic_distance": 14.01736, "euclidean_distance": 12.49481, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.98182, 0.11554, -2.71104 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_469_newN_1", "path": [ "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "refined_path": [ "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:37XITHEISYCHFKLIZ58KTNOOAALCR0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.4954, 0.11554, 5.51076 ], "start_rotation": [ 0, 0.01125, 0, -0.99994 ], "object_category": "sofa", "info": { "geodesic_distance": 10.35244, "euclidean_distance": 7.14537, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.96935, 0.11554, 0.83799 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "fd1c630635a94f78878d5b13a63274bf", "path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "refined_path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ] ] }, { "episode_id": "A3L8LSM7V7KX3T:3X31TUMD7ZPMPJG7EOM4QFWXJZIL1F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.39515, 0.11554, 2.09334 ], "start_rotation": [ 0, 0.99878, 0, -0.04939 ], "object_category": "sofa", "info": { "geodesic_distance": 3.90984, "euclidean_distance": 2.80746, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.93005, 0.11554, 0.8463 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "A28U7B76HLCS1U:3RJSC4XJ12X8G5S4QI2XVLHR6GR05W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.7253, -4.08446, -18.42558 ], "start_rotation": [ 0, 0.76291, 0, 0.6465 ], "object_category": "toilet", "info": { "geodesic_distance": 15.68759, "euclidean_distance": 13.00225, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.80055, -3.08446, -5.5506 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A28U7B76HLCS1U:3K772S5NPAEJNORTZR2L57ML8DQEHO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.87863, 3.11554, -2.17676 ], "start_rotation": [ 0, 0.38618, 0, 0.92242 ], "object_category": "chair", "info": { "geodesic_distance": 12.42604, "euclidean_distance": 10.94647, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.99278, 3.11554, -1.58659 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "36f960692401420f90d5448db9e22615", "path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "refined_path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ] }, { "episode_id": "A272X64FOZFYLB:3ATTHHXXWCRSPJTU0EAYT8878NMIX2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.82963, 0.47426, -4.33193 ], "start_rotation": [ 0, 0.87662, 0, 0.48119 ], "object_category": "plant", "info": { "geodesic_distance": 5.70342, "euclidean_distance": 4.37915, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.53856, 0.11554, -0.6864 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A2L26DMSVUEDP6:30H4UDGLT4L9CTHUZ2Y9ROTKML3MPD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.66212, 0.11554, -7.00007 ], "start_rotation": [ 0, 0.90951, 0, 0.41568 ], "object_category": "shower", "info": { "geodesic_distance": 15.32569, "euclidean_distance": 9.41741, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.48671, 0.11554, -0.39979 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_152_newN_0", "path": [ "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] }, { "episode_id": "A3L8LSM7V7KX3T:3NS0A6KXC6B3YNNEB8YG5HB1YVNZGK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.04627, -3.88434, -10.39372 ], "start_rotation": [ 0, 0.52968, 0, -0.8482 ], "object_category": "sink", "info": { "geodesic_distance": 7.99127, "euclidean_distance": 6.95915, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.63859, -3.08446, -4.31817 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "b3fb49d922374aaf81242f21d39d214d", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3T5UAYFKJBVTA:3E4GGUZ1TAUIUYGLCSAHGYTO3WX2KH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.54473, -0.68446, -11.41203 ], "start_rotation": [ 0, 0.44598, 0, 0.89504 ], "object_category": "counter", "info": { "geodesic_distance": 3.11216, "euclidean_distance": 2.63668, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84883, 0.11554, -9.0773 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "701006439c3f44239c348b0b92833ca3", "path": [ "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "ANFWGSQ8BQRZ:3NAPMVF0ZYIUZJ91TYL8CTO2XBY72F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.83572, -3.88446, -13.73181 ], "start_rotation": [ 0, 0.86825, 0, -0.49613 ], "object_category": "picture", "info": { "geodesic_distance": 11.84956, "euclidean_distance": 10.67726, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.92373, -2.99947, -3.22911 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "b634b67520bf4c579f044a8e433b021d", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3KC26Z78FBOJT:39KFRKBFIPYRLAU73595WJB1JNOOYJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.81946, 0.16284, -4.24041 ], "start_rotation": [ 0, 0.11694, 0, -0.99314 ], "object_category": "toilet", "info": { "geodesic_distance": 11.16945, "euclidean_distance": 5.08392, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.25661, 3.11554, -7.50149 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "a0ed01562b764da7a7bc5f5670d9a463", "path": [ "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3TVRFO09GMIUFK10LH7BLO0Z50XXLA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.08978, 0.11554, -5.47732 ], "start_rotation": [ 0, 0.72268, 0, 0.69118 ], "object_category": "bed", "info": { "geodesic_distance": 13.44194, "euclidean_distance": 5.68688, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.14459, 0.11554, -1.46894 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "AYYSG3O9FNU15:38SKSKU7R30XPPC5MV7AIEDKETOLI2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.01951, -3.94579, -20.02842 ], "start_rotation": [ 0, 0.95608, 0, -0.29309 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 19.50964, "euclidean_distance": 15.12162, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.8643, -3.08446, -6.81818 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:31EUONYN2X6AHGZ2YUMLPK773EBVOO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.51963, 0.11554, 5.57047 ], "start_rotation": [ 0, 0.81761, 0, 0.57578 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.69824, "euclidean_distance": 8.66639, "closest_goal_object_id": 599, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.43831, 0.11554, -0.88076 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_347_newN_2", "path": [ "0_edge_347_newN_2", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_347_newN_2", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "refined_path": [ "0_edge_347_newN_2", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ] }, { "episode_id": "A2L26DMSVUEDP6:3NPI0JQDAQ8DPO7E8ZZLD2ODH62TPH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.24266, 0.11554, -0.82546 ], "start_rotation": [ 0, 0.51102, 0, 0.85957 ], "object_category": "bathtub", "info": { "geodesic_distance": 8.3945, "euclidean_distance": 5.20497, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.54599, 0.11554, 1.66239 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "dfb6d728749e4dbb9116902a8f2dd6eb", "path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "3229309326224f1b93f98c1ed36594da", "0_edge_476_newN_0", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "c662afaab01a4c338d739c7600478db2", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "AOMFEAWQHU3D8:3HHRAGRYXA8CK9MZVTHPX2IBT69O95", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.96091, -0.68446, -15.28296 ], "start_rotation": [ 0, 0.86446, 0, 0.5027 ], "object_category": "plant", "info": { "geodesic_distance": 6.27014, "euclidean_distance": 5.11926, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.05128, -0.59951, -13.73394 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ] }, { "episode_id": "AK35CJJEYFVYK:32Q90QCQ1UOAPES15C5IIZ2CJ9QKE5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.27114, 0.90634, -4.26037 ], "start_rotation": [ 0, 0.27585, 0, 0.9612 ], "object_category": "bed", "info": { "geodesic_distance": 10.78211, "euclidean_distance": 7.08909, "closest_goal_object_id": 761, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.4151, 3.11554, -1.74762 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_576_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ] }, { "episode_id": "AD1ILDUXZHASF:3TR2532VIRXB1FT4H9M85WAN1DIJ6Y", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.42967, -3.88446, -13.49063 ], "start_rotation": [ 0, 0.66563, 0, -0.74628 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 11.85354, "euclidean_distance": 10.17673, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.92109, -3.08446, -6.88417 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "56afcfda8a6b45b499770f816eb67944", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571" ], "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3H32595TVJ34Q:3J2UYBXQQNF4Z9SIV1C2NRVR266066", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.39087, 3.11554, -4.50463 ], "start_rotation": [ 0, 0.67216, 0, 0.74041 ], "object_category": "counter", "info": { "geodesic_distance": 1.34208, "euclidean_distance": 1.02326, "closest_goal_object_id": 828, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.36861, 3.11554, -5.03355 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "86f4a6bece3b4edc8e71cc0d03cef2ca", "path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "refined_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", [ "86f4a6bece3b4edc8e71cc0d03cef2ca" ], "23d3a1b1dc134acc8ffa787e2ee558ed" ] }, { "episode_id": "A29CNQYJWMJ7G9:3OS4RQUCRBI12PO3UACV1E4M8H2FB6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -21.36522, -2.88446, -1.11876 ], "start_rotation": [ 0, 0.77011, 0, -0.63791 ], "object_category": "bed", "info": { "geodesic_distance": 16.95799, "euclidean_distance": 14.79142, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.50237, -3.88446, -9.90807 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_88_newN_1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0" ], "0_edge_88_newN_1", [ "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "A3L8LSM7V7KX3T:33LK57MYLV86OSW568SXUVU52VVZSE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.67362, 3.11554, -1.94896 ], "start_rotation": [ 0, 0.97799, 0, -0.20865 ], "object_category": "table", "info": { "geodesic_distance": 8.21872, "euclidean_distance": 7.00323, "closest_goal_object_id": 792, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.75849, 3.11554, -3.07581 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7bcfa9163bbc47e489988d011b395a35", "path": [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0" ], "refined_path": [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3AWETUDC94VHUET91WYJQTOITYAZI5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.37319, 3.11554, -6.07813 ], "start_rotation": [ 0, 0.84675, 0, -0.53198 ], "object_category": "picture", "info": { "geodesic_distance": 3.75177, "euclidean_distance": 2.68684, "closest_goal_object_id": 888, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.86337, 3.11554, -3.75847 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "23d3a1b1dc134acc8ffa787e2ee558ed", "path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0" ], "refined_path": [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0" ] }, { "episode_id": "A2VIKCIM9TZL22:32SCWG5HIJ77NQW2CMRS2SWZX1BP6S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ 0.06531, 3.11554, -0.07676 ], "start_rotation": [ 0, 0.57199, 0, 0.82026 ], "object_category": "toilet", "info": { "geodesic_distance": 7.48967, "euclidean_distance": 6.65064, "closest_goal_object_id": 862, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.24027, 3.11554, -5.24992 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "40094a9ad3934b5cb69633e07e0bd6ab", "path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "refined_path": [ "40094a9ad3934b5cb69633e07e0bd6ab", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ] }, { "episode_id": "AREQ43Q0T8ENT:39L1G8WVWSU59FQI8II4UT2H05X13Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.64279, 0.11554, -6.23253 ], "start_rotation": [ 0, 0.34489, 0, -0.93864 ], "object_category": "toilet", "info": { "geodesic_distance": 14.24621, "euclidean_distance": 3.6584, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.24114, 3.11554, -7.66134 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_153_newN_1", "path": [ "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A19C2SO0IMRZ1L:31LM9EDVONVJ80ZWGQ8P77W9ZY3JNX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.49363, -4.0341, -16.97621 ], "start_rotation": [ 0, 0.41007, 0, -0.91205 ], "object_category": "cabinet", "info": { "geodesic_distance": 14.27171, "euclidean_distance": 12.3539, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.63353, -3.08446, -4.73879 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2L26DMSVUEDP6:3WLEIWSYHQKRS8FD677K36DVSM22HF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.35164, 0.11554, 4.90387 ], "start_rotation": [ 0, 0.90566, 0, 0.42402 ], "object_category": "seating", "info": { "geodesic_distance": 7.81985, "euclidean_distance": 6.5377, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.98753, 0.11554, 1.13995 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_191_newN_0", "path": [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:354GIDR5ZD99LY63TCWLEQLZBJJ00K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.73444, -3.89115, -12.95385 ], "start_rotation": [ 0, 0.26626, 0, -0.9639 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 24.12231, "euclidean_distance": 14.32078, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89666, -3.08446, -6.83374 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A26LOVXF4QZZCO:34PGFRQONQE9VU8A8RZC3Q90PG0WJ3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.21554, 0.11554, -7.89204 ], "start_rotation": [ 0, 0.99853, 0, 0.05416 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.54123, "euclidean_distance": 11.86622, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.45633, -0.31088, -10.0734 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "1a4cc7154b1a4e44b8b41f6f6bb7a235", "path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_520_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60" ], "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "A3LRZX8477TYYZ:3Y9N9SS8L0EZ1A6UOB2ZVV3Q9R43DK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.75805, 0.14163, 6.12159 ], "start_rotation": [ 0, 0.89872, 0, 0.43852 ], "object_category": "toilet", "info": { "geodesic_distance": 15.14212, "euclidean_distance": 11.07937, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.69312, 0.11554, -0.47383 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "AK35CJJEYFVYK:3Z4GS9HPNXD1LK67ZA238K59R1D77P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.8651, -3.08446, -5.74061 ], "start_rotation": [ 0, 0.48585, 0, -0.87404 ], "object_category": "sofa", "info": { "geodesic_distance": 4.98031, "euclidean_distance": 1.9302, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.88017, -2.88446, -3.89764 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1NSHNH3MNFRGW:3OSWBBLG1G0BH8D8809N2BSTF9WXDC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.88242, -3.82161, -14.05956 ], "start_rotation": [ 0, 0.07755, 0, -0.99699 ], "object_category": "shower", "info": { "geodesic_distance": 10.72709, "euclidean_distance": 5.6973, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.67841, -3.88446, -18.06066 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LUY3GC6313QRQA7VWWK86WVSCU7P8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.44244, -0.66271, -11.73273 ], "start_rotation": [ 0, 0.05723, 0, -0.99836 ], "object_category": "towel", "info": { "geodesic_distance": 25.20508, "euclidean_distance": 16.56108, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.50557, 0.11554, -0.29312 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_356_newN_0", "path": [ "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "0_edge_333_newN_1", "0_edge_333_newN_0", "a406b9208ade4d0d859368e1ec14564f", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "dfb6d728749e4dbb9116902a8f2dd6eb", "c662afaab01a4c338d739c7600478db2", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "a406b9208ade4d0d859368e1ec14564f", [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "AIIOT9A7ARQZW:39K0FND3AJI2PPBSAJGC1T4Q1XTMAZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.78618, 0.11554, 0.49512 ], "start_rotation": [ 0, 0.99383, 0, 0.11089 ], "object_category": "sink", "info": { "geodesic_distance": 3.09389, "euclidean_distance": 2.91723, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.53085, 0.11554, 2.38907 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047" ] }, { "episode_id": "A3BRY2LVVQGP3H:3EJJQNKU9T88WSWYLXML4EL4N71RH9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.94999, -2.88446, -3.67681 ], "start_rotation": [ 0, 0.08087, 0, 0.99672 ], "object_category": "toilet", "info": { "geodesic_distance": 10.22146, "euclidean_distance": 9.27329, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.89593, -3.08446, -5.59471 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_435_newN_1", "path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AKYXQY5IP7S0Z:3NOKK93PR3B73E0R9QUFK4P7ZGGEE9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.3264, -3.88446, -9.8935 ], "start_rotation": [ 0, 0.97034, 0, -0.24174 ], "object_category": "table", "info": { "geodesic_distance": 24.15357, "euclidean_distance": 10.60069, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.41301, -3.08446, -6.33785 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A19C2SO0IMRZ1L:39DD6S19JRE5E9RN5D8S5EQQ1BEZEJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.95206, 0.11554, 4.42386 ], "start_rotation": [ 0, 0.38932, 0, -0.9211 ], "object_category": "counter", "info": { "geodesic_distance": 8.16267, "euclidean_distance": 5.0622, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.32414, 0.11554, 2.20732 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2" ] }, { "episode_id": "A3T5UAYFKJBVTA:34PGFRQONQE9VU8A8RZC3Q90PMDWJS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -0.27145, 3.11554, -4.16622 ], "start_rotation": [ 0, 0.84134, 0, -0.5405 ], "object_category": "towel", "info": { "geodesic_distance": 17.73955, "euclidean_distance": 15.34588, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.10273, 3.11554, -7.43246 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8" ], "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", [ "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "AZPZDX26SYMFY:3G5W44VEU9L89SOSB7V6I2NPDFIGKU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.89148, 3.11554, -4.56102 ], "start_rotation": [ 0, 0.63506, 0, 0.77246 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.68887, "euclidean_distance": 3.12092, "closest_goal_object_id": 869, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.00092, 3.22885, -7.48637 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "86f4a6bece3b4edc8e71cc0d03cef2ca", "path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7" ], "refined_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7" ] }, { "episode_id": "AREQ43Q0T8ENT:3QY7M81QH9PPGZDRI4RCCPAVVYYK7H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.45869, -3.08446, -5.55516 ], "start_rotation": [ 0, 0.98685, 0, -0.16161 ], "object_category": "sofa", "info": { "geodesic_distance": 6.51937, "euclidean_distance": 2.36028, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.84889, -2.88446, -3.99843 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "32788068265a4d5fa52a3cc0cafee00f" ], "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] ] }, { "episode_id": "A2DDPSXH2X96RF:33CID57106WIZMUM1S0NE8BUHHQ3LF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.55049, -0.59273, -10.85705 ], "start_rotation": [ 0, 0.91126, 0, 0.41184 ], "object_category": "chair", "info": { "geodesic_distance": 3.76457, "euclidean_distance": 3.35305, "closest_goal_object_id": 308, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.02634, 0.11554, -8.69584 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "f873b983498b4e18bb5acfade836f2cf", "path": [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0" ], "refined_path": [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0" ] }, { "episode_id": "A74PT3GRDMEZ:3Q5C1WP23O48NUDMM16X9Q01EYK51A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.39891, 0.27618, 6.99009 ], "start_rotation": [ 0, 0.80053, 0, 0.59929 ], "object_category": "picture", "info": { "geodesic_distance": 7.23739, "euclidean_distance": 6.39618, "closest_goal_object_id": 631, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.92748, 0.11554, 0.52176 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", [ "0_edge_344_newN_2" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3A7Y0R2P2QROKUD0IWVY59N6KU6JXR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.32167, -4.04496, -17.7121 ], "start_rotation": [ 0, 0.41862, 0, 0.90816 ], "object_category": "cushion", "info": { "geodesic_distance": 15.58583, "euclidean_distance": 12.42487, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.59991, -3.08446, -6.43902 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3O5RKGH6VB19C:3IUZPWIU1QA46EESQCZO459COTMWKI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.35126, -0.68446, -18.76136 ], "start_rotation": [ 0, 0.76687, 0, 0.6418 ], "object_category": "bed", "info": { "geodesic_distance": 20.95671, "euclidean_distance": 19.15192, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.96353, 0.11554, -2.6083 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "519643de8cf8414db0d0191bab30f32d", "path": [ "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", [ "8f6e247cade44925bd3406f4590e24ae" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A3K1P4SPR8XS7R:3D3VGR7TA2IT2KPZ6CXJ0KKU4143RX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.71622, -3.70336, -15.19108 ], "start_rotation": [ 0, 0.51552, 0, 0.85688 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 12.96595, "euclidean_distance": 8.94467, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.8692, -3.08446, -6.79057 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A2TUUIV61CR0C7:386CSBG1O1PSN2XHCZ6H2XM9FTVQ6N", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.7521, -4.08401, -18.52749 ], "start_rotation": [ 0, 0.97377, 0, 0.22754 ], "object_category": "bed", "info": { "geodesic_distance": 4.15805, "euclidean_distance": 3.83857, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.01798, -3.88446, -15.88365 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "d8404ae7e4a045c29e8a991181424a01", "path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "b3fb49d922374aaf81242f21d39d214d", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Navigate to the bed.", "instr_encoding": [ 101, 22149, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "A1P3HHEXWNLJMP:3T111IHZ5GTFHMEFNLYTRXNG1WD9RM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.04974, 0.11554, -8.72408 ], "start_rotation": [ 0, 0.39418, 0, -0.91903 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.30606, "euclidean_distance": 6.64454, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.59707, -0.38658, -10.15044 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "d218377018e14219a034d3bcf992d9a1", "path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "refined_path": [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ] }, { "episode_id": "A29CNQYJWMJ7G9:3K5TEWLKGXE0LUOZ0Z9G5NBLPXGIV2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.17888, 0.11554, -4.33735 ], "start_rotation": [ 0, 0.68241, 0, -0.73097 ], "object_category": "sink", "info": { "geodesic_distance": 2.63806, "euclidean_distance": 2.1004, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.53613, 0.11554, -6.37565 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3H32595TVJ34Q:3G0WWMR1UXN0UN39BGSY488VA0YNQ6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.37978, 0.11554, -3.37712 ], "start_rotation": [ 0, 0.31678, 0, 0.9485 ], "object_category": "seating", "info": { "geodesic_distance": 10.81704, "euclidean_distance": 9.68329, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.84091, 0.11554, 1.32457 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_515_newN_0", "path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_347_newN_1", "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd" ], "refined_path": [ "0_edge_515_newN_0", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0" ], "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1" ], "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd" ] }, { "episode_id": "A2TUUIV61CR0C7:3WT783CTPDKUZD4T38MUT8JKCGSBC0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.74345, 0.11554, -6.02124 ], "start_rotation": [ 0, 0.97673, 0, -0.21447 ], "object_category": "plant", "info": { "geodesic_distance": 7.95824, "euclidean_distance": 2.66231, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.22975, 0.11554, -8.29111 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "ebf438da4aff44d595b414b9ccd023ac", "path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", [ "ebf438da4aff44d595b414b9ccd023ac" ], "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "AK35CJJEYFVYK:3R0T90IZ1UFQQUC4JUE8UJAGRJQCG1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.79112, -3.69981, -15.19536 ], "start_rotation": [ 0, 0.59059, 0, -0.80697 ], "object_category": "cushion", "info": { "geodesic_distance": 11.27018, "euclidean_distance": 9.01565, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.56532, -3.08446, -6.42705 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571" ], "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:3300DTYQT4KW0HQWIHPFELEMW79QEU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.45984, 3.11554, -4.32404 ], "start_rotation": [ 0, 0.87587, 0, 0.48254 ], "object_category": "plant", "info": { "geodesic_distance": 10.82975, "euclidean_distance": 2.27387, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.00669, 3.11554, -6.03418 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", [ "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A29CNQYJWMJ7G9:3PEIJLRY6VWAQEDZPVEDUZHFZXXXWB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.19936, -4.08446, -18.7265 ], "start_rotation": [ 0, 0.9883, 0, 0.15254 ], "object_category": "chair", "info": { "geodesic_distance": 3.88489, "euclidean_distance": 3.68914, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.44984, -3.93335, -21.6926 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A1P3HHEXWNLJMP:3PJ71Z61R65ROHFYPRJEL652JF819P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.57002, -4.07333, -15.33339 ], "start_rotation": [ 0, 0.75079, 0, 0.66054 ], "object_category": "picture", "info": { "geodesic_distance": 21.79257, "euclidean_distance": 13.37498, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.9001, -3.00917, -3.25199 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A29CNQYJWMJ7G9:3BEFOD78W8WNN0VB1I6LOQIPVT9M4W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.01353, -0.68446, -14.59707 ], "start_rotation": [ 0, 0.40691, 0, -0.91347 ], "object_category": "cabinet", "info": { "geodesic_distance": 4.15187, "euclidean_distance": 3.77943, "closest_goal_object_id": 218, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.28625, -0.68446, -14.36557 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_466_newN_0", "path": [ "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1" ], "refined_path": [ "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1" ] }, { "episode_id": "A1NSHNH3MNFRGW:352YTHGROXG1VMU0ALQ8WLATE864H3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.55833, -3.97263, -15.50966 ], "start_rotation": [ 0, 0.69691, 0, -0.71716 ], "object_category": "table", "info": { "geodesic_distance": 18.52765, "euclidean_distance": 12.3449, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.39253, -3.08446, -6.41562 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A2TUUIV61CR0C7:3ERMJ6L4D0VK6NDU3G4SR2203HPM7X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.11283, 0.11554, 5.35978 ], "start_rotation": [ 0, 0.62001, 0, -0.78459 ], "object_category": "seating", "info": { "geodesic_distance": 6.38593, "euclidean_distance": 6.07875, "closest_goal_object_id": 352, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.51526, 0.11554, -0.19232 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "9a65ec8ec80d41a492cf617c83b15ec6", "path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A75XDPFNICR3T:39LOEL67OU8NKFA373RJ93PPEAY83A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.58832, 2.53654, -10.65962 ], "start_rotation": [ 0, 0.89222, 0, -0.4516 ], "object_category": "toilet", "info": { "geodesic_distance": 3.87197, "euclidean_distance": 3.50022, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.19318, 3.11554, -7.51788 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "e8f67d7392804d5e9284c74c2a5d926b", "path": [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "refined_path": [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3KMS4QQVK4T2VSSX0NPO0HND995KF1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.78207, 0.11554, 7.27781 ], "start_rotation": [ 0, 0.97459, 0, -0.22399 ], "object_category": "towel", "info": { "geodesic_distance": 19.47391, "euclidean_distance": 13.88195, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.51096, 0.11554, -0.30946 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "10a315d020ac47408b86212a7e258279", "path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0" ], "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:320DUZ38G9PDY8IATMVUHNNBH93GJZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.33339, 0.11554, -9.11688 ], "start_rotation": [ 0, 0.01501, 0, -0.99989 ], "object_category": "picture", "info": { "geodesic_distance": 3.29987, "euclidean_distance": 1.94785, "closest_goal_object_id": 238, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.91562, -0.51213, -10.47526 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "3d6cd6d157704b8abe96332301d16436", "path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "AIOOOO5OXWXKM:38SKSKU7R30XPPC5MV7AIEDJ06IIL3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.36812, -3.87673, -10.81196 ], "start_rotation": [ 0, 0.0639, 0, 0.99796 ], "object_category": "cushion", "info": { "geodesic_distance": 6.84409, "euclidean_distance": 5.98597, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.48848, -3.08446, -6.31847 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3UN61F00HYSWGZC3KVLCFHIEITCR5K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.62094, 3.11554, -8.88112 ], "start_rotation": [ 0, 0.98474, 0, 0.17404 ], "object_category": "shower", "info": { "geodesic_distance": 11.74056, "euclidean_distance": 9.18647, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.6796 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "2f782cbda7884257a49e9c7538e1d87b", "path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", [ "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A1198W1SPF1R4:3C5W7UE9CHTEL2JLLT8QL1FO2I0XMC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.77889, -0.68446, -21.34897 ], "start_rotation": [ 0, 0.64483, 0, -0.76433 ], "object_category": "toilet", "info": { "geodesic_distance": 26.7387, "euclidean_distance": 25.05176, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.64175, 0.11554, 1.67547 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_513_newN_1", "path": [ "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_513_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", [ "519643de8cf8414db0d0191bab30f32d" ], "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A21ZK49H9LSSRY:37TD41K0AJCTGZLVEU8PJXTKTKGSCT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.29799, 0.19884, 5.48007 ], "start_rotation": [ 0, 0.88533, 0, -0.46497 ], "object_category": "stool", "info": { "geodesic_distance": 10.01279, "euclidean_distance": 5.00657, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.81547, 0.11554, 3.64688 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "fd1c630635a94f78878d5b13a63274bf", "path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "10a315d020ac47408b86212a7e258279", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440" ], "10a315d020ac47408b86212a7e258279", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A2TUUIV61CR0C7:3QXNC7EIPKYRHSUGT8FE71MTFRJ09D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.55103, -2.99546, -7.24731 ], "start_rotation": [ 0, 0.53229, 0, -0.84656 ], "object_category": "sink", "info": { "geodesic_distance": 4.6687, "euclidean_distance": 4.26313, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.69391, -3.08446, -4.46059 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "372d9c5a8d394815a470573708b4f8cd", "path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A36QGCT3MMXC4Q:36W0OB37HYHHYJIPVEGYQHN3WJLZH1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.10764, 0.11554, -0.74436 ], "start_rotation": [ 0, 0.75489, 0, -0.65585 ], "object_category": "shower", "info": { "geodesic_distance": 2.62785, "euclidean_distance": 2.3514, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.44249, 0.11554, -0.47643 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "AIOOOO5OXWXKM:3PEIJLRY6VWAQEDZPVEDUZHEMQUWXE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.848, 0.11554, -4.14422 ], "start_rotation": [ 0, 0.98386, 0, -0.17895 ], "object_category": "table", "info": { "geodesic_distance": 3.32425, "euclidean_distance": 2.27738, "closest_goal_object_id": 285, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.48822, 0.11554, -6.0891 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7a381be117474e159e339b7bcce0baf3", "path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A3T5UAYFKJBVTA:32ZKVD547HQ6MD8AAFBT05FP3OTB3H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.07488, 3.11554, -1.19957 ], "start_rotation": [ 0, 0.9994, 0, -0.03466 ], "object_category": "towel", "info": { "geodesic_distance": 16.00202, "euclidean_distance": 12.81942, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.14104, 3.11554, -7.43027 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "673c93ec5cfd45efb87f064bd4723f8d", "path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A12H9WVHOB0E0O:39OWYR0EPMUXFXHE42QF9P2OAFKYF1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.97745, 3.11554, -4.26445 ], "start_rotation": [ 0, 0.41908, 0, 0.90795 ], "object_category": "stool", "info": { "geodesic_distance": 3.47895, "euclidean_distance": 2.72703, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.95223, 3.11554, -2.28163 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0_edge_439_newN_0", "path": [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A3T5UAYFKJBVTA:3IHR8NYAM94T83SOTYYD5UCLHJS4P7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.47278, -3.08446, -6.53228 ], "start_rotation": [ 0, 0.32998, 0, 0.94399 ], "object_category": "picture", "info": { "geodesic_distance": 3.67041, "euclidean_distance": 3.29171, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.01984, -3.00927, -3.27446 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "a08659774e5a42679b1fa25c23dfd623", "path": [ "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A3T5UAYFKJBVTA:3NAPMVF0ZYIUZJ91TYL8CTO2XBG72X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.36419, 0.11554, -5.53012 ], "start_rotation": [ 0, 0.18097, 0, 0.98349 ], "object_category": "plant", "info": { "geodesic_distance": 5.07179, "euclidean_distance": 3.39545, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.2695, 0.11554, -8.34797 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "0_edge_534_newN_0", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60" ], "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A2L26DMSVUEDP6:34YB12FSQ0R3ZGOVWJ8MXFFSJKAGMB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.03947, -3.89886, -17.36369 ], "start_rotation": [ 0, 0.30644, 0, -0.95189 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.6997, "euclidean_distance": 13.43514, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.81724, -3.08446, -6.82859 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A5WWHKD82I8UE:3P4RDNWND79RUZO5JAVX2Z0SA69JIS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.33962, 3.11554, -8.45982 ], "start_rotation": [ 0, 0.19203, 0, 0.98139 ], "object_category": "seating", "info": { "geodesic_distance": 1.6236, "euclidean_distance": 1.39516, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.60235, 3.11554, -7.22241 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "95c9fb86dcb14fcabab35769b14beb1e", "path": [ "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_130_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ], "refined_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e" ], "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1" ] }, { "episode_id": "AOMFEAWQHU3D8:3QY5DC2MXTNGYOX9U1TQ64WAVZ6UFR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.93187, -0.68446, -12.0136 ], "start_rotation": [ 0, 0.1101, 0, 0.99392 ], "object_category": "toilet", "info": { "geodesic_distance": 19.604, "euclidean_distance": 16.45187, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.56698, 0.11554, 1.60021 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_471_newN_0", "path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "refined_path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0" ], "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ] }, { "episode_id": "A2FUNB3BUB3U07:3XUHV3NRVM1JR5Y0OQ9I1DG8VPD5HA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.973, -3.93543, -12.99443 ], "start_rotation": [ 0, 0.61832, 0, -0.78593 ], "object_category": "toilet", "info": { "geodesic_distance": 21.60238, "euclidean_distance": 11.8368, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84932, -3.08446, -5.49147 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3U5JL4WY5MCYHCUFFP8UZ7YOGLZX4P", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.25019, 2.67881, -15.34925 ], "start_rotation": [ 0, 0.79022, 0, 0.61282 ], "object_category": "stool", "info": { "geodesic_distance": 15.14062, "euclidean_distance": 14.19869, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.93207, 3.11554, -2.41619 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "e056e877de1f47c9a08bb295c285f51a", "path": [ "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_127_newN_1", "0_edge_130_newN_0", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "ee7f6616e9894db580c78b08a6aa7343", "0_edge_261_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "0_edge_469_newN_0", "0_edge_466_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_469_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0" ], "refined_path": [ "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", [ "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a" ], "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", [ "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1" ], "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "ee7f6616e9894db580c78b08a6aa7343", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", [ "8c874344710140e681d78c046d471afc" ], "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_469_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_466_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:31HQ4X3T3UDMJ3F1R71OMGJ67R5SLY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.38521, 0.11554, -3.98821 ], "start_rotation": [ 0, 0.97632, 0, 0.21632 ], "object_category": "plant", "info": { "geodesic_distance": 7.12725, "euclidean_distance": 4.72506, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.29931, 0.11554, -8.36219 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "7a381be117474e159e339b7bcce0baf3", "path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "refined_path": [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb" ] }, { "episode_id": "A19C2SO0IMRZ1L:3634BBTX0QXBPX290K4CN180KWBFI1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.68769, -0.68446, -11.68174 ], "start_rotation": [ 0, 0.99596, 0, 0.08978 ], "object_category": "toilet", "info": { "geodesic_distance": 17.26031, "euclidean_distance": 15.00698, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.68881, 0.11554, 1.56296 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "09fa27f2739d4b849d2cf604a6319170", "path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "0_edge_520_newN_0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "AIOOOO5OXWXKM:3PW9OPU9PSNGOXUZ4I4ZBJXOBHM12Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.90348, 3.11554, -3.05798 ], "start_rotation": [ 0, 0.89994, 0, 0.43601 ], "object_category": "shower", "info": { "geodesic_distance": 9.11165, "euclidean_distance": 7.6291, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.53344, 3.11554, -2.73952 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "cd289dfb2a4d4161ab18c8b0e7889f0d", "path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A1NLDZ3T0S2CX:30ZX6P7VFAYNJEA3U7A5FJTBO672JQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.74363, -0.68446, -18.50776 ], "start_rotation": [ 0, 0.33039, 0, -0.94384 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 9.37737, "euclidean_distance": 8.56953, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.50839, -0.68446, -11.08732 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", [ "d1174dbd13454385b8a23cb15725b9a0" ], "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AJQGWGESKQT4Y:39U1BHVTDNU6IZ2RA12E0ZLCCD3T34", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.98934, -0.49911, -12.52915 ], "start_rotation": [ 0, 0.85704, 0, 0.51525 ], "object_category": "towel", "info": { "geodesic_distance": 28.02211, "euclidean_distance": 15.44057, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.48772, 0.11554, -0.34268 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_609_newN_1", "path": [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0_edge_521_newN_0", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "0_edge_446_newN_2", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "b20afa1056624aaca536b2bc6af05de8", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df" ], "0_edge_446_newN_2", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3OS46CRSLH2KSATYYY0R8KLGIJBV63", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.79869, 3.11554, -2.94734 ], "start_rotation": [ 0, 0.4693, 0, -0.88304 ], "object_category": "stool", "info": { "geodesic_distance": 13.99913, "euclidean_distance": 12.11689, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.91292, 3.11554, -2.37182 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", [ "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] ] }, { "episode_id": "A1NSHNH3MNFRGW:38F71OA9GVZXLGS0LZ24FUFHLV1FMN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.82669, -0.65867, -12.05863 ], "start_rotation": [ 0, 0.82854, 0, -0.55993 ], "object_category": "toilet", "info": { "geodesic_distance": 18.45855, "euclidean_distance": 15.89293, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.50938, 0.11554, 1.63768 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_471_newN_0", "path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Locate the toilet.", "instr_encoding": [ 101, 12453, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "AT3HI6B4AF1C5:354GIDR5ZD99LY63TCWLEQL0P8I00D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ 0.19538, 0.11554, 0.47835 ], "start_rotation": [ 0, 0.99934, 0, 0.03639 ], "object_category": "towel", "info": { "geodesic_distance": 22.35349, "euclidean_distance": 20.61786, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.51133, 0.11554, -0.3128 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "c4b31a14960b43c0b4b17320ce76acd1", "path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "bfb78765ec3e4eb7aebdea9e7c2bf047", "24dbd843e0fe400baa0228c00158bb29", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "c4b31a14960b43c0b4b17320ce76acd1", "35538596d1564408a4d3ec39541feead", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", [ "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2" ], "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A1BZNPQ0H7ZSER:324G5B4FB5BN396NEBHUT5VNXF507G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -21.17762, -2.88446, -0.93875 ], "start_rotation": [ 0, 0.02524, 0, 0.99968 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.09697, "euclidean_distance": 16.38149, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.81619, -3.08446, -6.8467 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "747202cfe7d7453fa924b3756a75b4fb", "path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3TAYZSBPLNBGIHTTH1JJ7KKYHLX2S8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.97092, -0.68446, -15.32011 ], "start_rotation": [ 0, 0.94575, 0, 0.32489 ], "object_category": "shower", "info": { "geodesic_distance": 21.54403, "euclidean_distance": 20.27749, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66433, 0.11554, 3.8794 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "a406b9208ade4d0d859368e1ec14564f", "path": [ "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "173a50fdd7d14bbb9475f84357ecae45", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ], "refined_path": [ "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "173a50fdd7d14bbb9475f84357ecae45", [ "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ] }, { "episode_id": "A2L26DMSVUEDP6:3LRKMWOKB7KDJTF7CTDR3DH1RVLZ2B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.67135, 3.11554, -4.18877 ], "start_rotation": [ 0, 0.79343, 0, 0.60866 ], "object_category": "towel", "info": { "geodesic_distance": 4.45401, "euclidean_distance": 4.1752, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.2547, 3.11554, -7.58203 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_439_newN_0", "path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A29CNQYJWMJ7G9:3U8YCDAGXRJX9RB2AAQ0TWCHOFV0QG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.06494, -3.08446, -4.44551 ], "start_rotation": [ 0, 0.28194, 0, 0.95943 ], "object_category": "bed", "info": { "geodesic_distance": 8.04055, "euclidean_distance": 5.94179, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.62258, -3.88446, -9.84287 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "38808050304946dfb262966b02c6ae4e", "path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "A12PUQIBXRBOXV:3EA3QWIZ4KYL82KAV49145N17QHITC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.63227, 0.11554, -5.28342 ], "start_rotation": [ 0, 0.75672, 0, 0.65373 ], "object_category": "bed", "info": { "geodesic_distance": 12.94684, "euclidean_distance": 5.89008, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.07535, 0.11554, -1.56685 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1" ] }, { "episode_id": "AIOOOO5OXWXKM:320DUZ38G9PDY8IATMVUHNNCYP4GJF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.57623, 3.11554, -6.23886 ], "start_rotation": [ 0, 0.04918, 0, -0.99879 ], "object_category": "picture", "info": { "geodesic_distance": 6.68468, "euclidean_distance": 4.74253, "closest_goal_object_id": 806, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.52861, 3.11554, -1.58233 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "17cfb9ce044443479e0a2a89925316a5", "path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ], "refined_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ] }, { "episode_id": "A1NSHNH3MNFRGW:3UXUOQ9OKG0J4M456DENIB7ZS7Z7AS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.76114, 0.11554, -1.11181 ], "start_rotation": [ 0, 0.97996, 0, 0.19918 ], "object_category": "chair", "info": { "geodesic_distance": 4.71455, "euclidean_distance": 4.45193, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.5675, 0.11554, 2.85886 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "c8ce61375bc8403691ec503de5401235", "path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7" ], "refined_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", [ "c8ce61375bc8403691ec503de5401235" ], "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d" ], "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", [ "34276b7c9d6e491885f36dd1d286e477" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7" ] }, { "episode_id": "A3APKUC67F9IMW:3R2PKQ87NYBHV7UQM78PIRS9HVLMI9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.90283, -3.08446, -5.78541 ], "start_rotation": [ 0, 0.52647, 0, 0.8502 ], "object_category": "picture", "info": { "geodesic_distance": 2.80918, "euclidean_distance": 2.51791, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.9695, -3.01976, -3.35263 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "ad24c52938c34a25b7a7c694d4769f30", "path": [ "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AKYXQY5IP7S0Z:3QFUFYSY90IHHQ3UFV28T0YHCGRF44", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.79409, 0.11554, -0.21258 ], "start_rotation": [ 0, 0.87314, 0, 0.48746 ], "object_category": "stool", "info": { "geodesic_distance": 11.98647, "euclidean_distance": 10.95145, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.04503, 0.11554, -8.4827 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "4f0a87d560244c2f926f2110e9dfc1e4", "path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", [ "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33TIN5LC06DOENQ11GQNZTGCQ0EY9H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.19747, 0.11554, 2.53359 ], "start_rotation": [ 0, 0.46582, 0, -0.88488 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.42801, "euclidean_distance": 5.66749, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.58792, 0.11554, -1.18091 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_343_newN_0", "path": [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_191_newN_0", "0_edge_347_newN_1", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0" ], "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ], "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", [ "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0" ], "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "AOMFEAWQHU3D8:3B3WTRP3DD5YD2XU8VJSQPF8PAQ295", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.70453, 0.11554, 1.6312 ], "start_rotation": [ 0, 0.30501, 0, 0.95235 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.89938, "euclidean_distance": 4.0715, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.57065, 0.11554, 1.6176 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3NMQ3019X6YE0:3EG49X351WFCWZYTYD19W5I2C7EX69", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.94786, -0.68446, -17.6996 ], "start_rotation": [ 0, 0.50893, 0, 0.86081 ], "object_category": "picture", "info": { "geodesic_distance": 7.86211, "euclidean_distance": 7.12422, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.61554, -0.68446, -11.33204 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "AOMFEAWQHU3D8:34S6N1K2ZXMXTU1LGDPPI2C5EMDHLL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.20343, -0.68446, -16.34849 ], "start_rotation": [ 0, 0.67239, 0, 0.74019 ], "object_category": "sink", "info": { "geodesic_distance": 16.50096, "euclidean_distance": 12.42851, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.51978, 0.11554, -6.67278 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A2TUUIV61CR0C7:3NKQQ8O3908J04JD3VY0I4TPJO6DUJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.00631, 0.11554, -5.34389 ], "start_rotation": [ 0, 0.37997, 0, -0.925 ], "object_category": "chair", "info": { "geodesic_distance": 13.15531, "euclidean_distance": 9.48981, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.52938, 0.11554, 2.82356 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "ebf438da4aff44d595b414b9ccd023ac", "path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0" ], "refined_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", [ "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1" ], "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:32Q90QCQ1UOAPES15C5IIZ2DKPTKE7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.68856, 0.11554, -4.5048 ], "start_rotation": [ 0, 0.82124, 0, 0.57058 ], "object_category": "toilet", "info": { "geodesic_distance": 12.00743, "euclidean_distance": 4.58304, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.25188, 3.11554, -7.48556 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "eda4b648d33d436aa09516400af0de9b", "path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "814d798917b14527a61e1135e74d6bba" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "814d798917b14527a61e1135e74d6bba" ], "refined_path": [ "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", [ "769866f82e6b4388b8b63023532685e0" ], "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ], "814d798917b14527a61e1135e74d6bba" ] }, { "episode_id": "A3K1P4SPR8XS7R:33UKMF931BNBHG0LPG85ICPAJIYTTS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.79839, 3.11554, -0.77098 ], "start_rotation": [ 0, 0.8062, 0, -0.59164 ], "object_category": "table", "info": { "geodesic_distance": 5.7507, "euclidean_distance": 3.77866, "closest_goal_object_id": 792, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.76926, 3.11554, -3.07729 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0_edge_220_newN_1", "path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7" ], "refined_path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7" ] }, { "episode_id": "A3TYCJO2DG3RMH:31IBVUNM9U2GB3M9ZR3V2QYUSX9FVY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.50894, 3.11554, -0.93222 ], "start_rotation": [ 0, 0.32346, 0, 0.94624 ], "object_category": "picture", "info": { "geodesic_distance": 4.84143, "euclidean_distance": 3.62571, "closest_goal_object_id": 784, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.1372, 3.11554, 0.24016 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488" ], "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "AIOOOO5OXWXKM:33M4IA01QI45IIWDQ147709Y84PRXI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.3616, 0.11554, -8.65179 ], "start_rotation": [ 0, 0.96185, 0, -0.27357 ], "object_category": "bathtub", "info": { "geodesic_distance": 15.24137, "euclidean_distance": 12.83221, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.55045, 0.11554, 1.60848 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3KC26Z78FBOJT:3E47SOBEYSZ4MLIZ9IEBFVNW6YLCI0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.57032, 0.11554, -3.06764 ], "start_rotation": [ 0, 0.27921, 0, -0.96023 ], "object_category": "shower", "info": { "geodesic_distance": 12.10393, "euclidean_distance": 7.34859, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.45018, 0.11554, -0.54956 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "3229309326224f1b93f98c1ed36594da", "path": [ "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0bee565558544262b0368f2a92702677", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", [ "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", [ "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ], "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3APKUC67F9IMW:3KV0LJBBH4OUO6X9CU2YWJT04TZMRC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.90315, 3.11554, -3.49807 ], "start_rotation": [ 0, 0.18872, 0, 0.98203 ], "object_category": "seating", "info": { "geodesic_distance": 10.55564, "euclidean_distance": 6.61391, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.71907, 3.11554, -6.84638 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "81829ab350054bf297a7ebbb1eb4fcee", "path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "37376bc376de4a1bbff1e45f6f420d0f", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "5ebe5e4ed7384814bde7bdf5aad27e8f", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134", [ "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "A1P3HHEXWNLJMP:3A0EX8ZRNAR72G5YZ04JQZB3VICYB5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.61432, 0.11554, 2.14853 ], "start_rotation": [ 0, 0.976, 0, 0.21778 ], "object_category": "towel", "info": { "geodesic_distance": 11.90986, "euclidean_distance": 8.17143, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.50534, 0.11554, -0.45346 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "310ded38502647188e97b980b77c2472", "path": [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "dfb6d728749e4dbb9116902a8f2dd6eb", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "7a42af4caa814affbce3c5325c0eb181", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd" ], "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:3OE22WJIGKRDPDNI8H4KI30PIUQUQ0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.90497, -3.84762, -11.98217 ], "start_rotation": [ 0, 0.30762, 0, -0.95151 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 9.78143, "euclidean_distance": 8.04037, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.96738, -3.08446, -6.83278 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "AZPZDX26SYMFY:32UTUBMZ7IZQYMATUPHZJ079A2TVBB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.01176, 0.16889, 6.90375 ], "start_rotation": [ 0, 0.98952, 0, 0.14438 ], "object_category": "stool", "info": { "geodesic_distance": 11.38806, "euclidean_distance": 4.42394, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.87388, 0.11554, 3.52741 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", [ "34276b7c9d6e491885f36dd1d286e477" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A1RQLE4ZMTU22A:39LOEL67OU8NKFA373RJ93POXJV381", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.41739, 1.6074, -4.41714 ], "start_rotation": [ 0, 0.55907, 0, -0.82912 ], "object_category": "sofa", "info": { "geodesic_distance": 7.92857, "euclidean_distance": 6.94208, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.02573, 0.11554, 0.49417 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "000d2cac6cfd4f07b56d159ef5658a08", "path": [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "A2R0YYUAWNT7UD:3ZOTGHDK5KEUPOIY4ZHGEXN1IXGSO5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.65623, 3.11554, -1.81586 ], "start_rotation": [ 0, 0.24481, 0, -0.96957 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.37398, "euclidean_distance": 3.35294, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.02798, 3.11554, -2.58458 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "ea6f8b054a3b493482b183a6e92b9aa7", "path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ], "refined_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3HFNH7HEMJHUKVMNOCF3EOZYW8IQGY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.61856, 0.11554, 3.9095 ], "start_rotation": [ 0, 0.77895, 0, 0.62708 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.74397, "euclidean_distance": 9.07514, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.40094, 0.11554, -0.94271 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "AKYXQY5IP7S0Z:337RC3OW0752BVW5L26TX33EMX5LVO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.96209, 0.11554, 0.30157 ], "start_rotation": [ 0, 0.84631, 0, -0.5327 ], "object_category": "plant", "info": { "geodesic_distance": 5.00783, "euclidean_distance": 2.24674, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.19276, 0.11554, -1.59925 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A1F6MWP9A0XLJQ:3J2UYBXQQNF4Z9SIV1C2NRVR5ZS60N", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.66172, 0.11554, -9.25083 ], "start_rotation": [ 0, 0.68053, 0, 0.73272 ], "object_category": "cushion", "info": { "geodesic_distance": 3.14394, "euclidean_distance": 2.20024, "closest_goal_object_id": 243, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.92742, -0.60193, -11.15939 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_355_newN_0", "path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A1RQLE4ZMTU22A:33CKWXB73LN9ZCC3LE4L60NJLQ911F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.77171, 3.11554, -2.22208 ], "start_rotation": [ 0, 0.04324, 0, 0.99906 ], "object_category": "chair", "info": { "geodesic_distance": 9.31886, "euclidean_distance": 7.84732, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.9285, 3.11554, -1.65887 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "0_edge_443_newN_0", "path": [ "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "AZPZDX26SYMFY:3LO69W1SU5GJTY6AW777X204ZHJGLU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.79926, 0.11554, -1.75808 ], "start_rotation": [ 0, 0.21557, 0, -0.97649 ], "object_category": "stool", "info": { "geodesic_distance": 8.43903, "euclidean_distance": 7.03297, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.08614, 0.11554, -8.44726 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A3RR85PK3AV9TU:3SKEMFQBZ58TGDIAS9JIQP6RPTOK8V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.35572, 3.11554, -4.45082 ], "start_rotation": [ 0, 0.47665, 0, 0.87909 ], "object_category": "cushion", "info": { "geodesic_distance": 19.28233, "euclidean_distance": 15.08859, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.72363, 3.11554, -0.523 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A3KC26Z78FBOJT:3BEFOD78W8WNN0VB1I6LOQIPT134MM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.53502, 3.11554, -2.12583 ], "start_rotation": [ 0, 0.51723, 0, -0.85584 ], "object_category": "sofa", "info": { "geodesic_distance": 7.74933, "euclidean_distance": 6.65775, "closest_goal_object_id": 898, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.9514, 3.11554, -0.73758 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "a2131c9b8e674c3db73821fb924f1644", "path": [ "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] }, { "episode_id": "A2GQH4SWIOFH2L:3P59JYT76NNHXH6861O9HPGKJGKT2L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.45753, -3.88446, -11.09182 ], "start_rotation": [ 0, 0.5168, 0, 0.85611 ], "object_category": "sink", "info": { "geodesic_distance": 23.98905, "euclidean_distance": 10.29636, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.6586, -3.08446, -4.48605 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b634b67520bf4c579f044a8e433b021d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A75XDPFNICR3T:3Z4AIRP3C8GHPDXWS7PS19RL47GX1F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.7293, 3.11554, -3.79716 ], "start_rotation": [ 0, 0.83604, 0, 0.54867 ], "object_category": "sink", "info": { "geodesic_distance": 4.10298, "euclidean_distance": 2.49864, "closest_goal_object_id": 741, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.54215, 3.11554, -6.28593 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A2TUUIV61CR0C7:3Y5140Z9DZJNGAR3EN0HZVM4INQIP1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.2998, 0.11554, -8.3286 ], "start_rotation": [ 0, 0.74557, 0, 0.66643 ], "object_category": "sofa", "info": { "geodesic_distance": 12.23445, "euclidean_distance": 9.38553, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.98526, 0.11554, 0.51793 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "889965f33b0e46938abc58b97fda5aef", "path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "refined_path": [ "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ] }, { "episode_id": "A3O5RKGH6VB19C:3I3WADAZ9S7TJMKNS348LMD8QIAO5V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.77358, -3.08446, -6.34495 ], "start_rotation": [ 0, 0.23632, 0, -0.97168 ], "object_category": "sofa", "info": { "geodesic_distance": 4.36838, "euclidean_distance": 2.75937, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.86464, -2.88446, -3.95918 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:30LSNF239WYRO3QXCPP53IEB8UZ2IY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.04851, 3.19313, -7.11545 ], "start_rotation": [ 0, 0.64187, 0, 0.76681 ], "object_category": "plant", "info": { "geodesic_distance": 8.8438, "euclidean_distance": 8.39933, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.29601, 3.11554, -1.45133 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "d828865aa4df444da9c7c051b87f1272", "path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A2DDPSXH2X96RF:3YZ8UPK3VVP9VCDZ3Z3PYYB7YF1CU7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.37839, 3.11554, -3.98671 ], "start_rotation": [ 0, 0.83033, 0, -0.55727 ], "object_category": "counter", "info": { "geodesic_distance": 4.66569, "euclidean_distance": 2.82724, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.36346, 3.11554, -6.7308 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "dcbc89b871b54cdd98d8b59b700d44a3", "path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", [ "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3LOTDFNYA92TQSMEP18ROSH8WFNFWZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.50439, 3.11554, -4.72113 ], "start_rotation": [ 0, 0.61942, 0, 0.78506 ], "object_category": "seating", "info": { "geodesic_distance": 2.60987, "euclidean_distance": 2.20497, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.77245, 3.11554, -6.85029 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "447e9619e3b641f790ab3d9f8666b3d1", "path": [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3DBQWDE4Y81B11KBRO4V6XD30FHN55", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.39268, -3.88446, -17.35013 ], "start_rotation": [ 0, 0.7592, 0, 0.65086 ], "object_category": "table", "info": { "geodesic_distance": 17.48795, "euclidean_distance": 13.10872, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.47375, -3.08446, -6.35928 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:32SVAV9L3HC1333I41BX5UVJJJ5A36", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.04831, -3.08446, -5.72041 ], "start_rotation": [ 0, 0.78492, 0, -0.61959 ], "object_category": "chair", "info": { "geodesic_distance": 17.57957, "euclidean_distance": 16.68149, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.52308, -3.92093, -21.79295 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "b634b67520bf4c579f044a8e433b021d", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", [ "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A3F90N8YVKJ4I7:3WJEQKOXAA55T0P3HXXEH1GN6DXA1Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.28591, -4.07453, -17.50945 ], "start_rotation": [ 0, 0.55535, 0, 0.83162 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 15.27523, "euclidean_distance": 11.34704, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.97772, -3.08446, -6.87349 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "b634b67520bf4c579f044a8e433b021d", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3T1KRG2ENHASZ:31EUONYN2X6AHGZ2YUMLPK771ULOVL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.60093, -3.08446, -5.77461 ], "start_rotation": [ 0, 0.99113, 0, 0.13292 ], "object_category": "cabinet", "info": { "geodesic_distance": 10.297, "euclidean_distance": 8.98169, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.60231, -3.08446, -4.73783 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6" ], "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0" ] }, { "episode_id": "A2ZZW6KME1FUDU:3AQF3RZ55ALVWD78YJVNQYIV81I6FP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -0.91131, 3.11554, -4.51781 ], "start_rotation": [ 0, 0.98453, 0, 0.17523 ], "object_category": "cushion", "info": { "geodesic_distance": 1.35982, "euclidean_distance": 1.35982, "closest_goal_object_id": 923, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -0.24707, 3.11554, -3.31525 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "1d262441697444b0908ea10b5ce60a59", "path": [ "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343" ], "refined_path": [ "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "ee7f6616e9894db580c78b08a6aa7343" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3O6CYIULEF4I9AJ4KQ3QASIB6QWUWJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.01681, 2.51554, -12.31042 ], "start_rotation": [ 0, 0.75305, 0, 0.65796 ], "object_category": "cushion", "info": { "geodesic_distance": 19.75703, "euclidean_distance": 14.9561, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.68516, 3.11554, -0.65996 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "54507d559ab2427982e8021989d48e50", "path": [ "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_130_newN_0", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "74b4a5ebdda245d3b9d2c39696ee2e42", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "0_edge_443_newN_0", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", [ "54507d559ab2427982e8021989d48e50" ], "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", [ "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "74b4a5ebdda245d3b9d2c39696ee2e42", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b" ], "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3KMS4QQVK4T2VSSX0NPO0HNCVJVKFV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.86369, 0.11554, 8.37574 ], "start_rotation": [ 0, 0.95783, 0, 0.28734 ], "object_category": "stool", "info": { "geodesic_distance": 16.53726, "euclidean_distance": 9.38397, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.81277, 0.11554, 3.49785 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "e91955faab2b4a60ac33f48771b21c54", "path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "refined_path": [ "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ] }, { "episode_id": "A9K0CV70JWG1W:33FBRBDW6Q2BXF6M0W2K26TJKLBC88", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.08616, -3.08446, -7.04769 ], "start_rotation": [ 0, 0.40742, 0, 0.91324 ], "object_category": "table", "info": { "geodesic_distance": 7.13412, "euclidean_distance": 2.76807, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.52938, -2.88446, -4.31588 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "A3NFGEUZAH9V5G:3WR9XG3T65E42XOOXC4W58L0DBG741", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.80405, -4.05954, -15.05551 ], "start_rotation": [ 0, 0.38358, 0, -0.92351 ], "object_category": "sofa", "info": { "geodesic_distance": 7.06509, "euclidean_distance": 6.28275, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.0852, -3.88446, -20.75095 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "64303f8d3b624128929cd6451d0db37b", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "64303f8d3b624128929cd6451d0db37b", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "64303f8d3b624128929cd6451d0db37b", [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0" ] }, { "episode_id": "A19C2SO0IMRZ1L:3OWEPKL08BFQO5YUFHJS4HR086X7NE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.27324, 0.11554, -9.21072 ], "start_rotation": [ 0, 0.98635, 0, 0.16464 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.50521, "euclidean_distance": 1.98063, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.51585, -0.35602, -10.12239 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "3d6cd6d157704b8abe96332301d16436", "path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3BGYGHDBBZNNDICVNM4DG27UMXJ225", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.06783, 3.11554, -0.7747 ], "start_rotation": [ 0, 0.49183, 0, -0.87069 ], "object_category": "seating", "info": { "geodesic_distance": 11.03334, "euclidean_distance": 10.32048, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.6698, 3.11554, -6.84896 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488" ], "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "AKYXQY5IP7S0Z:33PPUNGG3A8UNDWSRJSS4LP9G0EZR6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.27321, -0.68446, -16.3789 ], "start_rotation": [ 0, 0.64805, 0, 0.76159 ], "object_category": "seating", "info": { "geodesic_distance": 10.23596, "euclidean_distance": 9.78954, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.37, 0.11554, -8.58372 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "8f6e247cade44925bd3406f4590e24ae", "path": [ "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "8f6e247cade44925bd3406f4590e24ae" ], "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A19C2SO0IMRZ1L:3U088ZLJVMW2TO7OMJP6LLU4Q7AW0C", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.43243, 3.11554, -7.58767 ], "start_rotation": [ 0, 0.41608, 0, -0.90933 ], "object_category": "stool", "info": { "geodesic_distance": 6.22491, "euclidean_distance": 5.27812, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.01474, 3.11554, -2.27355 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0_edge_148_newN_0", "path": [ "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0" ], "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A1ZE52NWZPN85P:3WI0P0II63VRKCRWZ13VDT65CGLRDU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.22328, 0.11554, 1.73467 ], "start_rotation": [ 0, 0.35735, 0, -0.93397 ], "object_category": "stool", "info": { "geodesic_distance": 9.08922, "euclidean_distance": 6.95379, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.77816, 0.11554, 3.55485 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "b86db2322dcf44538d16e38cc789df6c", "path": [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3WMINLGALD6PG3Z1XUMYYXZE7I8ACM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.10327, 0.23325, 7.0232 ], "start_rotation": [ 0, 0.87572, 0, -0.48282 ], "object_category": "sink", "info": { "geodesic_distance": 11.29709, "euclidean_distance": 6.49423, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.70732, 0.11554, 2.48198 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A36H3PO6JZD414:3DUZQ9U6SORPF8RV5B3U9PH9HOBVS7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.20782, -4.00423, -16.10155 ], "start_rotation": [ 0, 0.13509, 0, 0.99083 ], "object_category": "sink", "info": { "geodesic_distance": 14.61878, "euclidean_distance": 12.0701, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.61368, -3.08446, -4.39536 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_272_newN_1", "0f0c966446e24bdc958349d0d9c3e09e", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "74230db02c1748bb89b3ada696cb5deb" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944" ], "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f" ], "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1", [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "0f0c966446e24bdc958349d0d9c3e09e", [ "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1P3HHEXWNLJMP:3NGMS9VZTNLRF60JZCYRK4V844HFF8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.08242, 3.11554, -7.32146 ], "start_rotation": [ 0, 0.90954, 0, 0.41561 ], "object_category": "seating", "info": { "geodesic_distance": 13.59106, "euclidean_distance": 5.6043, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.64832, 3.11554, -6.75063 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "dec940911e0a44e7b51b8fa218fb3550", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "A2AAY4VT9L71SY:3F1567XTNY8F5LZFA69TM7DB88VQ9L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.51427, 0.11554, 1.70169 ], "start_rotation": [ 0, 0.51971, 0, 0.85434 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.92494, "euclidean_distance": 3.8826, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.64617, 0.11554, 1.65843 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "c662afaab01a4c338d739c7600478db2", "path": [ "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "7c41f500f2ce4b7a9916e292221a7740", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463" ], "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "AIIOT9A7ARQZW:3M0NZ3JDP315IQYUUCFP1KKDRCGZ5A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.74668, -3.81416, -14.00486 ], "start_rotation": [ 0, 0.95725, 0, -0.28927 ], "object_category": "chair", "info": { "geodesic_distance": 9.45281, "euclidean_distance": 8.06307, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.5881, -3.94486, -21.68974 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AIIOT9A7ARQZW:3TE3O85732B4H2TG2CJEHAF2YMMR2Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.74977, -4.08446, -16.89678 ], "start_rotation": [ 0, 0.7177, 0, -0.69636 ], "object_category": "table", "info": { "geodesic_distance": 15.34641, "euclidean_distance": 10.76837, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.39068, -3.08446, -6.44394 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571" ], "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A3T5UAYFKJBVTA:3RXCAC0YITSOERMR2IY3SXEYIG88GP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.47607, 2.67443, -15.08992 ], "start_rotation": [ 0, 0.92582, 0, 0.37796 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.40569, "euclidean_distance": 13.91619, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.34207, 3.11554, -2.46358 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "fa3b4a397c084131bcdd2e6954dab4e5", "path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e0c4533325b431db69bee9e850f3d07", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3EJPLAJKEOJ11UY8ZVPUTQYC6TRZ6F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.14838, -3.5847, -10.89396 ], "start_rotation": [ 0, 0.97515, 0, -0.22155 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 25.8328, "euclidean_distance": 13.93379, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.97325, -3.08446, -6.84433 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A272X64FOZFYLB:317HQ483I9VNDPFQY8NPV6H9MM0INC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.94999, -2.91267, -3.23209 ], "start_rotation": [ 0, 0.12141, 0, 0.9926 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 8.84936, "euclidean_distance": 7.91283, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89107, -3.08446, -6.76974 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "8a2aeda8632c4fb38e51733e873ae813", "path": [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:36H9ULYP64X7K8MFI2PCZ2NZDVKFJF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.87345, -3.75555, -10.14134 ], "start_rotation": [ 0, 0.90352, 0, 0.42855 ], "object_category": "sofa", "info": { "geodesic_distance": 8.81261, "euclidean_distance": 7.04906, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.93719, -2.88446, -3.90319 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "APRZ7BR8C0ZMQ:34S9DKFK75S93PUV2Q9SHUBX91IYN7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.37278, 3.11554, -3.29316 ], "start_rotation": [ 0, 0.05847, 0, -0.99829 ], "object_category": "shower", "info": { "geodesic_distance": 14.96889, "euclidean_distance": 13.16457, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.63899 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "81829ab350054bf297a7ebbb1eb4fcee", "path": [ "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2TUUIV61CR0C7:3A7Y0R2P2QROKUD0IWVY59N6I85XJU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.50487, 3.11554, -2.41699 ], "start_rotation": [ 0, 0.47108, 0, -0.88209 ], "object_category": "cushion", "info": { "geodesic_distance": 19.33943, "euclidean_distance": 16.83117, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.71739, 3.11554, -0.70928 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "36f960692401420f90d5448db9e22615", "path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0" ], "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", [ "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A2R0YYUAWNT7UD:3B4YI393VBZ9NGARBGYPY2X2FF4SS9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.2957, -3.69753, -10.44733 ], "start_rotation": [ 0, 0.9478, 0, -0.31887 ], "object_category": "cushion", "info": { "geodesic_distance": 23.98574, "euclidean_distance": 11.55985, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.66455, -3.08446, -6.35671 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2MCG5W6LHSRG9:3WETL7AQWVB4XXR195KGXJFY9MG35N", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.65729, 0.30448, 7.6868 ], "start_rotation": [ 0, 0.66293, 0, 0.74868 ], "object_category": "stool", "info": { "geodesic_distance": 12.13632, "euclidean_distance": 5.25541, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.91059, 0.11554, 3.57182 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "10a315d020ac47408b86212a7e258279", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A3D38UO96N9SB0:323Q6SJS8KJBT2RPU2MRNP7LH5YFHF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.70296, 0.11554, -3.55412 ], "start_rotation": [ 0, 0.93696, 0, -0.34944 ], "object_category": "sofa", "info": { "geodesic_distance": 5.10448, "euclidean_distance": 4.69969, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.95289, 0.11554, 0.57774 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "29e0e9dd21db4b78bdea0ca885f8a744", "path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0" ], "refined_path": [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3SBEHTYCWP6HPOJ45AW0CMFGN9WIYX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.90323, -0.68446, -15.82072 ], "start_rotation": [ 0, 0.69724, 0, 0.71684 ], "object_category": "plant", "info": { "geodesic_distance": 6.06403, "euclidean_distance": 5.24905, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.0157, -0.63691, -13.88907 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:35DR22AR5FNDZGBBFB3BP26HOQV3XW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.24581, -3.08446, -8.84339 ], "start_rotation": [ 0, 0.9483, 0, 0.31736 ], "object_category": "chair", "info": { "geodesic_distance": 16.57011, "euclidean_distance": 13.77573, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.51731, -3.9426, -21.67121 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_88_newN_1", "10_edge_552_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0" ], "0_edge_88_newN_1", [ "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ], "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3GDTJDAPVWEO61IDDLWY52YVE0IM85", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.69622, 3.11554, -1.40114 ], "start_rotation": [ 0, 0.42953, 0, -0.90305 ], "object_category": "seating", "info": { "geodesic_distance": 14.07959, "euclidean_distance": 10.44061, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.73088, 3.11554, -6.88599 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "5e83ef2965d445d18d539afdda8b88e5", "path": [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83" ], "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3F0BG9B9MRQK0428MJS3LXP7WHC7YH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.50431, 0.11554, 5.55537 ], "start_rotation": [ 0, 0.27646, 0, 0.96102 ], "object_category": "towel", "info": { "geodesic_distance": 10.12024, "euclidean_distance": 8.32091, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.50768, 0.11554, -0.428 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "0_edge_347_newN_2", "path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A31BA1WLSWUSY1:3IKZ72A5B6J33YD0X0H4S94GPF8FN5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.31341, 0.11554, 3.29465 ], "start_rotation": [ 0, 0.99932, 0, 0.03686 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.66928, "euclidean_distance": 5.46372, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.58932, 0.11554, -1.22022 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "13c30ac9dae6410fa1da3247fba2af76", "path": [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "AZPZDX26SYMFY:3L2IS5HSFCLSMGAQSPC3E95KGDLUNM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.38032, 3.11554, -0.27596 ], "start_rotation": [ 0, 0.91279, 0, 0.40844 ], "object_category": "chair", "info": { "geodesic_distance": 2.63874, "euclidean_distance": 2.45923, "closest_goal_object_id": 892, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.24048, 3.11554, -2.45609 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "577717ce6ca248799fa9bcece8f9d32e", "path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "refined_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3U5JL4WY5MCYHCUFFP8UZ7YOGQ6X46", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.97412, -3.72951, -14.75483 ], "start_rotation": [ 0, 0.99757, 0, 0.06974 ], "object_category": "sink", "info": { "geodesic_distance": 12.4225, "euclidean_distance": 10.52516, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.70314, -3.08446, -4.44225 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A272X64FOZFYLB:3H7XDTSHKEUZ4SI90LE96DHKK80GWR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.11273, 0.11554, -1.34012 ], "start_rotation": [ 0, 0.08849, 0, -0.99608 ], "object_category": "counter", "info": { "geodesic_distance": 4.16096, "euclidean_distance": 3.88709, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.32583, 0.11554, 2.26808 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "A3T5UAYFKJBVTA:34BBWHLWHCED0JO4Q9ECRPU0CVRIWH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.48539, 0.11554, 2.19738 ], "start_rotation": [ 0, 0.18594, 0, 0.98256 ], "object_category": "table", "info": { "geodesic_distance": 7.27105, "euclidean_distance": 5.65773, "closest_goal_object_id": 628, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.9114, 0.11554, -2.27035 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0405db8320e24c3abb2f1e7c3ce52810", "path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791" ], "refined_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791" ] }, { "episode_id": "A3RR85PK3AV9TU:39RP059MEJW78ZGKGXG8W4OWJFOMB4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.7061, 0.17842, 6.72541 ], "start_rotation": [ 0, 0.67773, 0, -0.73531 ], "object_category": "towel", "info": { "geodesic_distance": 15.81707, "euclidean_distance": 11.18928, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.47367, 0.11554, -0.43336 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "945b55df8540463ba66ab57abbed4869", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Locate the towel.", "instr_encoding": [ 101, 12453, 1996, 10257, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e" ], "945b55df8540463ba66ab57abbed4869", [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0" ], "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A75XDPFNICR3T:3IFS6Q0HJKMKT27V644BU0RF6U4SI9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.64054, 0.29172, 7.77801 ], "start_rotation": [ 0, 0.99184, 0, 0.1275 ], "object_category": "towel", "info": { "geodesic_distance": 16.86455, "euclidean_distance": 11.9285, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.45979, 0.11554, -0.3718 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "fd1c630635a94f78878d5b13a63274bf", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151" ], "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ], "fd1c630635a94f78878d5b13a63274bf", [ "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0" ], "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A1RQLE4ZMTU22A:38F71OA9GVZXLGS0LZ24FUFGKIVFMO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.43266, 2.51554, -12.1664 ], "start_rotation": [ 0, 0.81787, 0, -0.5754 ], "object_category": "cushion", "info": { "geodesic_distance": 23.2621, "euclidean_distance": 12.51449, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.72308, 3.11554, -0.61785 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "ef98e16224ae4151a0f5e69ec03916f7", "path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30" ], "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b" ], "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b" ], "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3WZ36BJEV5JBLU64PUHKIIJODASBTC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.65291, 0.11554, 0.45136 ], "start_rotation": [ 0, 0.23676, 0, 0.97157 ], "object_category": "shower", "info": { "geodesic_distance": 11.27032, "euclidean_distance": 4.55433, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.62761, 0.11554, 3.87857 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] }, { "episode_id": "A19C2SO0IMRZ1L:3ZAZR5XV03LQHB799M2XFQQNGZOZCD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.72656, 0.11554, 0.77286 ], "start_rotation": [ 0, 0.75052, 0, 0.66085 ], "object_category": "counter", "info": { "geodesic_distance": 1.98893, "euclidean_distance": 1.68695, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.25688, 0.11554, 2.28515 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "9bd6013e7ccd46c28789c54605a56151", "path": [ "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A75XDPFNICR3T:3FFJ6VRIL3RKSTNJX2LRKULWB2JI0A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.92945, 2.51554, -13.14599 ], "start_rotation": [ 0, 0.65078, 0, 0.75927 ], "object_category": "bathtub", "info": { "geodesic_distance": 18.16379, "euclidean_distance": 15.60235, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.19706, 3.11554, -2.31349 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_133_newN_0", "path": [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2Q6L9LKSNU7EB:39PAAFCODO3QU84AUB8KJUDU07EVT0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.85547, 3.11554, -1.95055 ], "start_rotation": [ 0, 0.85418, 0, 0.51997 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.92324, "euclidean_distance": 4.11849, "closest_goal_object_id": 774, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.95728, 3.11554, -2.51188 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_405_newN_1", "path": [ "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:37UEWGM5HVBXSHBKJ8J0CR5X3LK1R2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.03661, 3.11554, -3.72731 ], "start_rotation": [ 0, 0.56154, 0, -0.82745 ], "object_category": "counter", "info": { "geodesic_distance": 4.47968, "euclidean_distance": 2.97524, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.29406, 3.11554, -6.76541 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "dcbc89b871b54cdd98d8b59b700d44a3", "path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A182N7RLXGSCZG:39ZSFO5CAAZW3QJ5DRKBL2O3RKCUJG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.70595, 3.29844, -1.26201 ], "start_rotation": [ 0, 0.88702, 0, -0.46173 ], "object_category": "counter", "info": { "geodesic_distance": 6.38944, "euclidean_distance": 4.1219, "closest_goal_object_id": 828, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.42527, 3.11554, -5.03048 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "673c93ec5cfd45efb87f064bd4723f8d", "path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "refined_path": [ "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ] }, { "episode_id": "A19C2SO0IMRZ1L:3X4JMASXCOCA5L9DRSTAY7HJG020BY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.76781, -3.59447, -10.50693 ], "start_rotation": [ 0, 0.99858, 0, 0.05332 ], "object_category": "picture", "info": { "geodesic_distance": 25.61342, "euclidean_distance": 9.9985, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.98442, -3.01396, -3.29659 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b634b67520bf4c579f044a8e433b021d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Navigate to the picture.", "instr_encoding": [ 101, 22149, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "ADEMAGRRRGSPT:378XPAWRUEGGT6L1P4IK90X84NKIA6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.94599, -0.64194, -10.43865 ], "start_rotation": [ 0, 0.09368, 0, 0.9956 ], "object_category": "sink", "info": { "geodesic_distance": 10.76892, "euclidean_distance": 6.7021, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.33684, 0.11554, -6.60111 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "bd0a6c4865d74589a65cedb040ffcf00", "path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A19C2SO0IMRZ1L:33CKWXB73LN9ZCC3LE4L60NK2KV118", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.61609, 0.11554, -5.87864 ], "start_rotation": [ 0, 0.2311, 0, -0.97293 ], "object_category": "sink", "info": { "geodesic_distance": 2.98748, "euclidean_distance": 2.40404, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.60986, 0.11554, -3.66191 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A272X64FOZFYLB:3QHK8ZVMIOLN2HYZGLFTWR97MX8BLE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.04515, -3.82755, -14.82038 ], "start_rotation": [ 0, 0.081, 0, 0.99671 ], "object_category": "sofa", "info": { "geodesic_distance": 10.32872, "euclidean_distance": 6.28921, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.40508, -3.88446, -20.96916 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3M81GAB8A2MYTEEC8QNPDD81T9MQBI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.89031, -4.0536, -16.66511 ], "start_rotation": [ 0, 0.85826, 0, 0.51322 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 16.44534, "euclidean_distance": 11.65651, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89179, -3.08446, -6.82548 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A3T5UAYFKJBVTA:3ZV9H2YQQFAYAG6L567PNJSBWDQW3U", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.93678, -3.88975, -15.00657 ], "start_rotation": [ 0, 0.53626, 0, -0.84405 ], "object_category": "cabinet", "info": { "geodesic_distance": 19.57811, "euclidean_distance": 12.55808, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.64857, -3.08446, -4.90612 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ] }, { "episode_id": "A1R0689JPSQ3OF:3MD9PLUKKKH98F40YCBBV1KZ2NZZNJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.09323, 3.11554, -3.85579 ], "start_rotation": [ 0, 0.92874, 0, -0.37073 ], "object_category": "seating", "info": { "geodesic_distance": 9.56054, "euclidean_distance": 6.16098, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.72053, 3.11554, -6.80076 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e0c4533325b431db69bee9e850f3d07", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A16184N1RO5OJV:3E337GFOLBB9HY9V8KNMAU4T46UNG2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.50761, 3.11554, 0.19133 ], "start_rotation": [ 0, 0.62058, 0, -0.78414 ], "object_category": "table", "info": { "geodesic_distance": 2.13779, "euclidean_distance": 1.41581, "closest_goal_object_id": 927, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.26376, 3.11554, -0.59007 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "577717ce6ca248799fa9bcece8f9d32e", "path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "AZPZDX26SYMFY:3WYGZ5XF3YIBZXXJ67PN7G6SYTASKR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.6454, 0.11554, -2.19988 ], "start_rotation": [ 0, 0.60097, 0, -0.79927 ], "object_category": "counter", "info": { "geodesic_distance": 4.70023, "euclidean_distance": 4.18641, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.12624, 0.11554, -5.60179 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_476_newN_0", "path": [ "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "ADEMAGRRRGSPT:3TXWC2NHN1TRI1ES2AYYH7SB732S9R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.25644, 0.11554, -7.017 ], "start_rotation": [ 0, 0.98754, 0, -0.15738 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.63627, "euclidean_distance": 8.76082, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.54583, 0.11554, 1.60012 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_521_newN_0", "path": [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "APRZ7BR8C0ZMQ:3R6P78PK7ME7CBEF5G9YJTALTNFTG6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.83903, -0.61365, -11.59035 ], "start_rotation": [ 0, 0.32171, 0, -0.94684 ], "object_category": "shower", "info": { "geodesic_distance": 17.74114, "euclidean_distance": 16.38093, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66911, 0.11554, 3.87418 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_244_newN_0", "path": [ "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3SEPORI8WP22OWABP8669V0ZGWMAZ5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.87418, 3.11554, -2.05039 ], "start_rotation": [ 0, 0.69002, 0, -0.72379 ], "object_category": "stool", "info": { "geodesic_distance": 5.24305, "euclidean_distance": 3.0386, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.99677, 3.11554, -2.30108 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "ea6f8b054a3b493482b183a6e92b9aa7", "path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:34BBWHLWHCED0JO4Q9ECRPUZYEDWI3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.32285, -3.08446, -7.212 ], "start_rotation": [ 0, 0.9331, 0, -0.35962 ], "object_category": "table", "info": { "geodesic_distance": 6.60669, "euclidean_distance": 2.87057, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.43633, -2.88446, -4.22821 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ] ] }, { "episode_id": "A21ZK49H9LSSRY:35H6S234SC33UGEJS7IE4MRIJJO65E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.45642, 0.11554, 4.72822 ], "start_rotation": [ 0, 0.83582, 0, -0.549 ], "object_category": "towel", "info": { "geodesic_distance": 24.16853, "euclidean_distance": 17.68363, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.41965, 0.11554, -0.36905 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "4ad4f9b025b441aab57a1eba3bd1c2c4", "path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", [ "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", [ "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60" ], "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1" ], "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca" ], "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3NPI0JQDAQ8DPO7E8ZZLD2ODH6VPT6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.69421, 0.11554, 4.86369 ], "start_rotation": [ 0, 0.667, 0, 0.74506 ], "object_category": "counter", "info": { "geodesic_distance": 12.05454, "euclidean_distance": 11.4544, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.99224, 0.11554, -5.91015 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "4ad4f9b025b441aab57a1eba3bd1c2c4", "path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AOMFEAWQHU3D8:3U5NZHP4LT5NKFGJ85IWZJLO3W4PHZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.61727, 3.11554, -3.09496 ], "start_rotation": [ 0, 0.84353, 0, 0.53708 ], "object_category": "towel", "info": { "geodesic_distance": 10.5087, "euclidean_distance": 8.80293, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.1381, 3.11554, -7.4991 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "31eced24029c4dacad2bba2b1a2b7af9", "path": [ "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", [ "31eced24029c4dacad2bba2b1a2b7af9" ], "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3L8LSM7V7KX3T:3XXU1SWE8OY5MB4LLETE3WXCIN2A0Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.01857, -0.68446, -16.65476 ], "start_rotation": [ 0, 0.11057, 0, -0.99387 ], "object_category": "counter", "info": { "geodesic_distance": 8.23652, "euclidean_distance": 7.72599, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.80496, 0.11554, -8.99888 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "45e5c21ecc32454b9390fca6c7d78316", "path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A3FPPZWMQOANR4:3N8OEVH1FTTFRWQ5XI07USD0O62OOS", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.32507, 0.26326, -4.34119 ], "start_rotation": [ 0, 0.52582, 0, 0.8506 ], "object_category": "counter", "info": { "geodesic_distance": 2.89385, "euclidean_distance": 2.15736, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.10415, 0.11554, -5.71435 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A1P3HHEXWNLJMP:336KAV9KYSVDE352G7B8P68Z17GY2A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.65392, -3.83426, -11.51345 ], "start_rotation": [ 0, 0.9852, 0, 0.17144 ], "object_category": "cabinet", "info": { "geodesic_distance": 8.64901, "euclidean_distance": 7.04523, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.54188, -3.08446, -4.84335 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "b634b67520bf4c579f044a8e433b021d", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A2Q6L9LKSNU7EB:32AT8R96GNCP2T2V0LTPD3FPM15US5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.62529, 3.11554, -6.32488 ], "start_rotation": [ 0, 0.74089, 0, -0.67162 ], "object_category": "stool", "info": { "geodesic_distance": 6.44065, "euclidean_distance": 5.16523, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.92756, 3.11554, -2.27674 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "17cfb9ce044443479e0a2a89925316a5", "path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A1NSHNH3MNFRGW:3LPW2N6LKV5OWR4KOPGHKS5X8CT5U0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.80672, 0.11554, 1.75961 ], "start_rotation": [ 0, 0.17996, 0, 0.98367 ], "object_category": "shower", "info": { "geodesic_distance": 12.29756, "euclidean_distance": 4.61311, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.62119, 0.11554, 3.99617 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "b86db2322dcf44538d16e38cc789df6c", "path": [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "refined_path": [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "episode_id": "A2R0YYUAWNT7UD:3L70J4KAZIPZLV5FXQH9I3HWS7BADR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.89162, -0.5518, -12.58439 ], "start_rotation": [ 0, 0.13701, 0, -0.99057 ], "object_category": "cabinet", "info": { "geodesic_distance": 2.34462, "euclidean_distance": 2.09841, "closest_goal_object_id": 218, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.16105, -0.68083, -11.45584 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "ae8b8fd21d474f7a9a429fe6c86b514e", "path": [ "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c" ], "refined_path": [ "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3HRMW88U18T6OCDAIHJJCNSDVZE0MY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.18101, 0.11554, 2.17468 ], "start_rotation": [ 0, 0.3975, 0, 0.9176 ], "object_category": "cushion", "info": { "geodesic_distance": 7.2797, "euclidean_distance": 6.02095, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.14486, 0.11554, 1.24833 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "b86db2322dcf44538d16e38cc789df6c", "path": [ "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A9K0CV70JWG1W:3I3WADAZ9S7TJMKNS348LMD946JO5W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.72705, 0.11554, -1.13689 ], "start_rotation": [ 0, 0.91126, 0, 0.41184 ], "object_category": "shower", "info": { "geodesic_distance": 2.01738, "euclidean_distance": 1.84242, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.54617, 0.11554, -0.55061 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3LOTDFNYA92TQSMEP18ROSH7IQ8FWQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.32725, 3.11554, -4.41376 ], "start_rotation": [ 0, 0.99935, 0, 0.0361 ], "object_category": "plant", "info": { "geodesic_distance": 3.71525, "euclidean_distance": 3.51975, "closest_goal_object_id": 818, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.15909, 3.11554, -1.48929 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "86f4a6bece3b4edc8e71cc0d03cef2ca", "path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A272X64FOZFYLB:36WLNQG781D9WBO7ZZSPJWJMU6WEBA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.02478, -0.68446, -21.2963 ], "start_rotation": [ 0, 0.99928, 0, -0.03784 ], "object_category": "stool", "info": { "geodesic_distance": 6.84371, "euclidean_distance": 6.25934, "closest_goal_object_id": 222, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.24914, -0.68446, -15.33854 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "2cd98eed9ae24dec8ca021e761455fc6", "path": [ "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", [ "5ef3c89e80bd44288091527d30458d16" ], "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A3L8LSM7V7KX3T:38F71OA9GVZXLGS0LZ24FUFHXQNFMB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.15609, 3.11554, -7.04768 ], "start_rotation": [ 0, 0.89616, 0, 0.44372 ], "object_category": "sofa", "info": { "geodesic_distance": 9.67826, "euclidean_distance": 8.71022, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.83022, 2.51554, -13.02611 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_262_newN_1", "path": [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3GNA64GUZG7W4YX37GWCAR89JEUQ5D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.24601, -0.20019, 8.39984 ], "start_rotation": [ 0, 0.98059, 0, 0.19605 ], "object_category": "stool", "info": { "geodesic_distance": 12.90851, "euclidean_distance": 5.5269, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.75328, 0.11554, 3.56351 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "701293ca052c452c8454a11cf5f140f5", "path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ], "refined_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0" ] }, { "episode_id": "AREQ43Q0T8ENT:3KOPY89HMA5C4W6MY7OAYTY3E7F3J4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.34161, -0.68446, -17.51136 ], "start_rotation": [ 0, 0.93663, 0, 0.35033 ], "object_category": "counter", "info": { "geodesic_distance": 15.93646, "euclidean_distance": 13.47332, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.84378, 0.11554, -9.0155 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A19C2SO0IMRZ1L:3B3WTRP3DD5YD2XU8VJSQPF8PBL292", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.94631, -3.96531, -15.61119 ], "start_rotation": [ 0, 0.26439, 0, 0.96442 ], "object_category": "toilet", "info": { "geodesic_distance": 19.69564, "euclidean_distance": 13.63059, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.92159, -3.08446, -5.6586 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", [ "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690" ], "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "A2TUUIV61CR0C7:33C7UALJVN1RACWOKZD0LAARXLN81Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.79981, 0.48917, -4.36756 ], "start_rotation": [ 0, 0.95333, 0, -0.30194 ], "object_category": "table", "info": { "geodesic_distance": 2.55091, "euclidean_distance": 2.21779, "closest_goal_object_id": 628, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.31422, 0.11554, -2.14692 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "e62bb5ca23724c1aa78e6f3667d8e3f3", "path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A2TUUIV61CR0C7:3II4UPYCOLAR8BCWMMEV83W1WWFDQX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.36513, 0.11554, 2.30972 ], "start_rotation": [ 0, 0.89167, 0, 0.45269 ], "object_category": "counter", "info": { "geodesic_distance": 6.53501, "euclidean_distance": 5.04623, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.29884, 0.11554, 2.28084 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3LBXNTKX0TYZEI0RWK4LGF93M7Q9XG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.32756, 1.84747, -3.06763 ], "start_rotation": [ 0, 0.11829, 0, 0.99298 ], "object_category": "table", "info": { "geodesic_distance": 2.65234, "euclidean_distance": 2.51181, "closest_goal_object_id": 792, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.37246, 3.11554, -3.05333 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "f115d708bfd944c7a6bff880581d79f7", "path": [ "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "AZPZDX26SYMFY:3YJ6NA41JDJJBLB9W5LHBW14ZDHPJC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.86351, -3.88446, -11.63531 ], "start_rotation": [ 0, 0.51102, 0, -0.85957 ], "object_category": "table", "info": { "geodesic_distance": 8.46121, "euclidean_distance": 7.68839, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.38135, -3.08446, -6.29618 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A5WWHKD82I8UE:3MYYFCXHJ5ANVQZPQF8QBLYTGP5G49", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.2283, -4.06918, -16.04301 ], "start_rotation": [ 0, 0.86645, 0, 0.49926 ], "object_category": "cabinet", "info": { "geodesic_distance": 15.15779, "euclidean_distance": 11.83836, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.6832, -3.08446, -4.72768 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb" ], "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3EWIJTFFVQA8COLX1JV0ZFN4MWJ0E3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.71047, 3.11554, 0.16705 ], "start_rotation": [ 0, 0.9998, 0, 0.01985 ], "object_category": "chair", "info": { "geodesic_distance": 13.60241, "euclidean_distance": 10.9216, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.00681, 3.11554, -1.64791 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "31e2ead1db884aa0974a21674f83b488", "path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "0_edge_220_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b" ], "refined_path": [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", [ "31e2ead1db884aa0974a21674f83b488" ], "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:31QTRG6Q2VG96A68I5MKLJGRV45YPL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.0419, -3.08446, -7.7583 ], "start_rotation": [ 0, 0.26241, 0, -0.96496 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 5.60069, "euclidean_distance": 5.28312, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89812, -3.08446, -6.83891 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "cc507e886ab449b8980fcde8de54b4e1", "path": [ "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "4d53b2df82b3494a80822eba94c31f2f", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1" ], "refined_path": [ "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", [ "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623" ], "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1" ] }, { "episode_id": "A21ZK49H9LSSRY:3TMSXRD2X8320DS6I2T6ZQDEIKCW14", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.40049, 3.11554, -1.89824 ], "start_rotation": [ 0, 0.33644, 0, 0.94171 ], "object_category": "sink", "info": { "geodesic_distance": 7.03868, "euclidean_distance": 6.43628, "closest_goal_object_id": 868, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.29987, 3.11554, -5.79616 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "a2131c9b8e674c3db73821fb924f1644", "path": [ "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ], "refined_path": [ "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ] }, { "episode_id": "A1198W1SPF1R4:31HQ4X3T3UDMJ3F1R71OMGJ7NLWSLV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.12496, 0.11554, 8.10746 ], "start_rotation": [ 0, 0.96483, 0, -0.26286 ], "object_category": "cushion", "info": { "geodesic_distance": 13.65991, "euclidean_distance": 9.07399, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.13753, 0.11554, 1.2809 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df" ], "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "AZPZDX26SYMFY:3IUZPWIU1QA46EESQCZO459D462KWU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.06913, 0.11554, -2.57555 ], "start_rotation": [ 0, 0.58174, 0, 0.81338 ], "object_category": "plant", "info": { "geodesic_distance": 6.1875, "euclidean_distance": 5.80269, "closest_goal_object_id": 508, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.3178, 0.11554, 3.27238 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "769866f82e6b4388b8b63023532685e0", "path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "13c30ac9dae6410fa1da3247fba2af76" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "refined_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "13c30ac9dae6410fa1da3247fba2af76" ] }, { "episode_id": "A2TUUIV61CR0C7:3MYYFCXHJ5ANVQZPQF8QBLYSX07G4C", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.48524, -0.68446, -18.57479 ], "start_rotation": [ 0, 0.62673, 0, 0.77923 ], "object_category": "sink", "info": { "geodesic_distance": 13.0836, "euclidean_distance": 12.11591, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.3039, 0.11554, -6.58328 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "ae452693af47490ea50fd1057b04337d", "path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "0_edge_153_newN_1", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Go to the sink.", "instr_encoding": [ 101, 2175, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A19C2SO0IMRZ1L:31EUONYN2X6AHGZ2YUMLPK78H7AVOP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.28459, 0.25209, 7.31917 ], "start_rotation": [ 0, 0.08783, 0, 0.99614 ], "object_category": "toilet", "info": { "geodesic_distance": 16.31541, "euclidean_distance": 12.19393, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.72545, 0.11554, -0.5194 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", [ "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A5WWHKD82I8UE:3QFUFYSY90IHHQ3UFV28T0YHFAZF43", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.57509, -3.08446, -6.10849 ], "start_rotation": [ 0, 0.64377, 0, 0.76522 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.25283, "euclidean_distance": 6.04674, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.61461, -3.08446, -4.95544 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "ad24c52938c34a25b7a7c694d4769f30", "path": [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "refined_path": [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ] }, { "episode_id": "A1ZE52NWZPN85P:3R6P78PK7ME7CBEF5G9YJTAKDJUGTI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.55979, -3.04755, -7.94558 ], "start_rotation": [ 0, 0.92777, 0, 0.37316 ], "object_category": "shower", "info": { "geodesic_distance": 6.03527, "euclidean_distance": 5.06681, "closest_goal_object_id": 1023, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.09052, -3.08446, -4.30195 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_384_newN_1", "path": [ "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "AOG0PUCLMU0HH:3MX2NQ3YCBXGDVYFTUR44Z42GNA5XU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.61693, 0.11554, 1.828 ], "start_rotation": [ 0, 0.43999, 0, 0.898 ], "object_category": "toilet", "info": { "geodesic_distance": 8.03353, "euclidean_distance": 7.40159, "closest_goal_object_id": 602, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.76863, 0.11554, -0.5102 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_202_newN_0", "path": [ "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A2MCG5W6LHSRG9:3QUO65DNQWRA41A2T4CGTY5P30QOUI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.64982, 3.11554, -7.01451 ], "start_rotation": [ 0, 0.99263, 0, 0.1212 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.01582, "euclidean_distance": 5.26712, "closest_goal_object_id": 1041, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.2807, 3.11554, -2.31368 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "53652351502d4b5dba01ad8f23be3443", "path": [ "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_115_newN_0", "0_edge_130_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "e056e877de1f47c9a08bb295c285f51a", "3014b8cf45664302bb24e76ba6aec69b", "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", [ "5260f113c5f542a8b6b115cbdfc9fef5" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50" ], "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", [ "e056e877de1f47c9a08bb295c285f51a", "3014b8cf45664302bb24e76ba6aec69b" ], "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", [ "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A75XDPFNICR3T:3570Y55XZRM3TXD9FMWXRA2082PGY0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.82218, 0.11554, 0.98575 ], "start_rotation": [ 0, 0.05244, 0, -0.99862 ], "object_category": "towel", "info": { "geodesic_distance": 5.60727, "euclidean_distance": 4.76455, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.52182, 0.11554, -0.33463 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "209a0a0f9b4d4f3caaab3c25cbcd9105", "path": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1BZNPQ0H7ZSER:388U7OUMF94XLSQ2NPF0YMMNYY0R0L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.16332, 2.69694, -15.1635 ], "start_rotation": [ 0, 0.77908, 0, -0.62692 ], "object_category": "toilet", "info": { "geodesic_distance": 9.05039, "euclidean_distance": 8.57744, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.24134, 3.11554, -7.48811 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_351_newN_0", "path": [ "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ], "refined_path": [ "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45" ] }, { "episode_id": "A36QGCT3MMXC4Q:3Y54SXRO1NOQHTFAPLYFN8BC5ZEUT2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.6111, -0.68446, -17.0546 ], "start_rotation": [ 0, 0.51872, 0, -0.85494 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 6.81431, "euclidean_distance": 6.3749, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.53287, -0.68446, -11.10976 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AKYXQY5IP7S0Z:3XCC1ODXDNEL9LV14N9FDSD5BPWQRQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.54646, 3.11554, -2.36061 ], "start_rotation": [ 0, 0.38052, 0, -0.92477 ], "object_category": "shower", "info": { "geodesic_distance": 18.7517, "euclidean_distance": 16.98895, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.54707, 3.11554, -2.65273 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "5e83ef2965d445d18d539afdda8b88e5", "path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A2GQH4SWIOFH2L:3QY7M81QH9PPGZDRI4RCCPAWBKM7KI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.84749, -0.68446, -17.79103 ], "start_rotation": [ 0, 0.70995, 0, -0.70425 ], "object_category": "bathtub", "info": { "geodesic_distance": 23.89525, "euclidean_distance": 21.92437, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.65417, 0.11554, 1.64046 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_469_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_469_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5" ], "0_edge_469_newN_0", [ "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A14E0Y5HPALKZN:3ZDAD0O1T3GIYX95UQ927FAFI1PTX8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.729, 0.11554, -9.12943 ], "start_rotation": [ 0, 0.49864, 0, -0.86681 ], "object_category": "picture", "info": { "geodesic_distance": 4.68811, "euclidean_distance": 3.04908, "closest_goal_object_id": 238, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.05846, -0.53949, -10.42166 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "eaa924cd93794010a866d09389edd172", "path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "12_edge_486_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "12_edge_486_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", [ "6a57a23befa34262b84aa219156f1432" ], "12_edge_486_newN_1", [ "6a57a23befa34262b84aa219156f1432", "0_edge_521_newN_1", "6a57a23befa34262b84aa219156f1432", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172" ], "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3TMSXRD2X8320DS6I2T6ZQDEYXXW1V", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.15838, 0.11554, 3.91746 ], "start_rotation": [ 0, 0.61226, 0, 0.79065 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.69055, "euclidean_distance": 6.67088, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.40378, 0.11554, -1.25644 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_189_newN_0", "path": [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] }, { "episode_id": "A2L26DMSVUEDP6:3U84XHCDIEGNM7UUG7WFWSEZB5TZ4B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.47985, 0.11554, 3.27904 ], "start_rotation": [ 0, 0.84687, 0, 0.5318 ], "object_category": "seating", "info": { "geodesic_distance": 5.18384, "euclidean_distance": 3.25419, "closest_goal_object_id": 455, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.8916, 0.11554, 1.28252 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "90ffb16e607e495b9c230de85201dac7", "path": [ "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7" ], "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", [ "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc" ], "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A2TUUIV61CR0C7:3B837J3LDQZXM1AEWRYK8SS6TKYRSB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.63612, 0.11554, -4.65796 ], "start_rotation": [ 0, 0.19725, 0, 0.98035 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.13004, "euclidean_distance": 1.94245, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.03094, 0.11554, -3.47952 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ] }, { "episode_id": "AIOOOO5OXWXKM:3YW4XOSQKSOP8931N2E5H2SHX3T1U0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.37125, -0.68446, -17.85055 ], "start_rotation": [ 0, 0.92168, 0, 0.38795 ], "object_category": "plant", "info": { "geodesic_distance": 8.34039, "euclidean_distance": 7.5042, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.97015, -0.61044, -13.79416 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ] }, { "episode_id": "A29CNQYJWMJ7G9:3ZWFC4W1UWAOIW5SQ7YL1T9R4FHRFB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.20574, -3.08348, -3.42038 ], "start_rotation": [ 0, 0.57344, 0, -0.81925 ], "object_category": "bed", "info": { "geodesic_distance": 8.12836, "euclidean_distance": 6.69139, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.46072, -3.88446, -9.87165 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "6c8219cd4bf549b8a0bf58ba7b0f61e4", "path": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ] }, { "episode_id": "A21ZK49H9LSSRY:3I2PTA7R3VXZMHI6E30ICGRRJXJKQB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.26748, 3.11554, -5.44607 ], "start_rotation": [ 0, 0.96059, 0, 0.27799 ], "object_category": "sofa", "info": { "geodesic_distance": 11.95293, "euclidean_distance": 10.62172, "closest_goal_object_id": 963, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.99923, 2.51554, -12.99301 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0", [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "A3BRY2LVVQGP3H:3U088ZLJVMW2TO7OMJP6LLU3CJ7W0H", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.13063, -3.66126, -11.47912 ], "start_rotation": [ 0, 0.99921, 0, 0.03986 ], "object_category": "table", "info": { "geodesic_distance": 23.84491, "euclidean_distance": 12.84925, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.30773, -3.08446, -6.39499 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:3E13VNJ1NPYKZI81TLPRYZ46GNC1I5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.98432, -4.00782, -17.90783 ], "start_rotation": [ 0, 0.17931, 0, -0.98379 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 18.83806, "euclidean_distance": 13.84387, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.99283, -3.08446, -6.82839 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3RR85PK3AV9TU:3UNH76FOCU83L79VQPUS4FMX7C9YMD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.11562, 3.11554, -5.44535 ], "start_rotation": [ 0, 0.83451, 0, -0.55099 ], "object_category": "table", "info": { "geodesic_distance": 7.66822, "euclidean_distance": 6.57439, "closest_goal_object_id": 940, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.82315, 3.11554, -7.15866 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0" ] }, { "episode_id": "A1198W1SPF1R4:3K2755HG5U6UHMMN8631W4SNPDFDFE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.50682, 0.11554, -5.18559 ], "start_rotation": [ 0, 0.40871, 0, 0.91266 ], "object_category": "chair", "info": { "geodesic_distance": 13.64864, "euclidean_distance": 9.60338, "closest_goal_object_id": 475, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.57327, 0.11554, 2.90714 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "ebf438da4aff44d595b414b9ccd023ac", "path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", "ebf438da4aff44d595b414b9ccd023ac", "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "ebf438da4aff44d595b414b9ccd023ac", "0_edge_483_newN_1", [ "ebf438da4aff44d595b414b9ccd023ac" ], "0_edge_534_newN_0", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A302KOFOYLD89A:3E4GGUZ1TAUIUYGLCSAHGYTO3RA2KK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.12173, 0.11554, 2.12453 ], "start_rotation": [ 0, 0.42191, 0, -0.90664 ], "object_category": "sofa", "info": { "geodesic_distance": 4.25196, "euclidean_distance": 2.19743, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.89339, 0.11554, 0.73034 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd" ], "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", [ "34276b7c9d6e491885f36dd1d286e477" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3QIYRE09Y5KCDJJSQ12J370MOVS1N9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.37754, -3.08446, -6.03289 ], "start_rotation": [ 0, 0.51498, 0, -0.8572 ], "object_category": "sofa", "info": { "geodesic_distance": 3.78182, "euclidean_distance": 3.33876, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.8829, -2.88446, -3.9357 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "ad24c52938c34a25b7a7c694d4769f30", "path": [ "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A3K1P4SPR8XS7R:3H7Z272LX9AP6BZ9ZQXURBEW32KPLC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.43057, 3.11554, -0.11133 ], "start_rotation": [ 0, 0.84022, 0, 0.54224 ], "object_category": "table", "info": { "geodesic_distance": 1.83392, "euclidean_distance": 1.20684, "closest_goal_object_id": 927, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.18584, 3.11554, -0.67406 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "577717ce6ca248799fa9bcece8f9d32e", "path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ], "refined_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644" ] }, { "episode_id": "A1J3ON3YLGJAM6:34Q075JO1ZG9SNRLPV0LSV4AXRI10W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.76329, -3.94922, -12.73543 ], "start_rotation": [ 0, 0.93885, 0, 0.34434 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 23.53328, "euclidean_distance": 13.35844, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.94444, -3.08446, -6.81047 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "f40e599480664537833ee44fea373731", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "f40e599480664537833ee44fea373731", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5" ], "f40e599480664537833ee44fea373731", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3TYCJO2DG3RMH:3VZLGYJEYNDEK9I40IYKT3BXK9MZXC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.40304, -0.68446, -9.94274 ], "start_rotation": [ 0, 0.91732, 0, 0.39816 ], "object_category": "chair", "info": { "geodesic_distance": 4.12906, "euclidean_distance": 3.74179, "closest_goal_object_id": 214, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.79081, -0.68446, -11.20002 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "d1174dbd13454385b8a23cb15725b9a0", "path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00" ], "instruction": "Locate the chair.", "instr_encoding": [ 101, 12453, 1996, 3242, 1012, 102 ], "original_path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00" ], "refined_path": [ "d1174dbd13454385b8a23cb15725b9a0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00" ] }, { "episode_id": "A3T5UAYFKJBVTA:3DBQWDE4Y81B11KBRO4V6XD4EY35NR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.41163, 0.11554, 1.50139 ], "start_rotation": [ 0, 0.32345, 0, 0.94625 ], "object_category": "picture", "info": { "geodesic_distance": 4.87785, "euclidean_distance": 4.29917, "closest_goal_object_id": 366, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -0.26252, 0.11554, 0.01482 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "0405db8320e24c3abb2f1e7c3ce52810", "path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "0_edge_509_newN_1" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1" ] }, { "episode_id": "A3KC26Z78FBOJT:3MYYFCXHJ5ANVQZPQF8QBLYSXK34G0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.23891, 0.11608, 6.21198 ], "start_rotation": [ 0, 0.38731, 0, -0.92195 ], "object_category": "cushion", "info": { "geodesic_distance": 8.49103, "euclidean_distance": 5.25432, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.09845, 0.11554, 1.18667 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3VJ40NV2QKQV4OVDTZM6O2JNJZGTOI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.99582, -3.95406, -19.94938 ], "start_rotation": [ 0, 0.7564, 0, 0.65411 ], "object_category": "chair", "info": { "geodesic_distance": 2.07478, "euclidean_distance": 1.96052, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.43765, -4.08446, -21.81214 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "b3fb49d922374aaf81242f21d39d214d", "b634b67520bf4c579f044a8e433b021d", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2" ], "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A2TUUIV61CR0C7:37C0GNLMHH6YYTTC7D0X2YF9GSBD6K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.83294, -3.88446, -17.34936 ], "start_rotation": [ 0, 0.88454, 0, 0.46647 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 19.45846, "euclidean_distance": 13.92078, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.8354, -3.08446, -6.84347 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "691f6fa3625b48539b1a686c2fbdcaad", "path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3R0T90IZ1UFQQUC4JUE8UJAH52JCGC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.30491, 0.11554, 0.39655 ], "start_rotation": [ 0, 0.87625, 0, -0.48185 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.38454, "euclidean_distance": 8.85819, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.38535, 0.11554, -5.96131 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "2fb14459ed8d496fae1ea1683a23493b", "path": [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AZPZDX26SYMFY:3XIQGXAUMEBV0ZCYHN612JIYAHXX78", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.44814, 0.11554, 4.94448 ], "start_rotation": [ 0, 0.93952, 0, 0.3425 ], "object_category": "cushion", "info": { "geodesic_distance": 7.13384, "euclidean_distance": 4.51988, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.12287, 0.11554, 1.13474 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "AZPZDX26SYMFY:3U8YCDAGXRJX9RB2AAQ0TWCI50KQ0K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.53348, 2.51554, -10.3264 ], "start_rotation": [ 0, 0.89528, 0, -0.44551 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.43915, "euclidean_distance": 3.74022, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.26576, 2.51554, -10.23481 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "ef98e16224ae4151a0f5e69ec03916f7", "path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ], "refined_path": [ "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259" ] }, { "episode_id": "A1NSHNH3MNFRGW:3YMU66OBIPBH72NK5MS95A7W2Z3GHW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.94526, 0.17299, -4.36777 ], "start_rotation": [ 0, 0.43593, 0, -0.89998 ], "object_category": "plant", "info": { "geodesic_distance": 5.52613, "euclidean_distance": 5.09107, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.58137, 0.11554, -0.64249 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "a0ed01562b764da7a7bc5f5670d9a463", "path": [ "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", [ "e91fd405eae74dcb93ab7036937b1c60" ], "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A2GQH4SWIOFH2L:3YWRV122CU27J9NMMNNKWCFPRMT8UR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.67297, -4.04561, -16.92359 ], "start_rotation": [ 0, 0.9825, 0, -0.18624 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 14.81007, "euclidean_distance": 10.91898, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.86578, -3.08446, -6.75497 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944" ], "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", [ "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A3T5UAYFKJBVTA:3HUTX6F6VWQ1KP10AK2ANFAW6LAO2B", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.68782, 0.11554, 5.27019 ], "start_rotation": [ 0, 0.12594, 0, -0.99204 ], "object_category": "stool", "info": { "geodesic_distance": 16.44172, "euclidean_distance": 14.70343, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.87231, 0.11554, -8.49687 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "b20afa1056624aaca536b2bc6af05de8", "path": [ "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "0_edge_521_newN_0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "A3FSDH6HUZPNQ8:33LK57MYLV86OSW568SXUVU4OEJSZH", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.26437, -3.08446, -7.52722 ], "start_rotation": [ 0, 0.16729, 0, 0.98591 ], "object_category": "table", "info": { "geodesic_distance": 7.54447, "euclidean_distance": 3.27451, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.34519, -2.88446, -4.24036 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3DY46V3X3RL7BCE5NO89CGDIA3K55L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.13346, -0.64594, -10.80281 ], "start_rotation": [ 0, 0.59926, 0, -0.80056 ], "object_category": "seating", "info": { "geodesic_distance": 2.53505, "euclidean_distance": 2.39415, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.32233, 0.11554, -8.60339 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "f873b983498b4e18bb5acfade836f2cf", "path": [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "173a50fdd7d14bbb9475f84357ecae45", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", [ "a406b9208ade4d0d859368e1ec14564f" ], "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f" ], "173a50fdd7d14bbb9475f84357ecae45", [ "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", [ "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4", "1495db5760cf415299116892de94695a", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A1S0N5BIXAQO8I:3II4UPYCOLAR8BCWMMEV83W1ZOXQDF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.63246, -0.68446, -20.69226 ], "start_rotation": [ 0, 0.16228, 0, 0.98675 ], "object_category": "bed", "info": { "geodesic_distance": 23.52885, "euclidean_distance": 20.44115, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.01227, 0.11554, -2.68352 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "2cd98eed9ae24dec8ca021e761455fc6", "path": [ "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "AIIOT9A7ARQZW:3MMN5BL1W17254C71412ELQKYB4M3L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.49786, 0.11554, 7.81423 ], "start_rotation": [ 0, 0.98703, 0, -0.16052 ], "object_category": "shower", "info": { "geodesic_distance": 18.61741, "euclidean_distance": 6.10893, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.85857, 0.11554, 3.99588 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "10a315d020ac47408b86212a7e258279", "fd1c630635a94f78878d5b13a63274bf", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3I7DHKZYGP3ZD97UT0LIYS4VCIL5FA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.71711, 3.11554, -0.47821 ], "start_rotation": [ 0, 0.94495, 0, -0.32722 ], "object_category": "bathtub", "info": { "geodesic_distance": 7.44291, "euclidean_distance": 7.31745, "closest_goal_object_id": 869, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.69852, 3.24212, -7.5367 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "ee7f6616e9894db580c78b08a6aa7343", "path": [ "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A3L8LSM7V7KX3T:3RANCT1ZVHKQL7LTPZ7UNE5QWPKUB9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.92752, -0.68446, -21.18326 ], "start_rotation": [ 0, 0.036, 0, 0.99935 ], "object_category": "cabinet", "info": { "geodesic_distance": 9.18956, "euclidean_distance": 7.7602, "closest_goal_object_id": 218, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.30973, -0.68446, -15.07348 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "f924e8567e4a4a31bd456348ad343f9b", "path": [ "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "0_edge_609_newN_0", [ "0_edge_609_newN_1", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3KC26Z78FBOJT:3VFJCI1K412UWW1N1R43JE92RMWGRI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.52145, 0.07032, 8.02214 ], "start_rotation": [ 0, 0.87976, 0, -0.47542 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.12665, "euclidean_distance": 11.13622, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.58966, 0.11554, -2.95975 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", [ "d6316b40b9c8413386ef184e5a5382ab" ], "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3" ] }, { "episode_id": "A3L8LSM7V7KX3T:30MVJZJNHOGYJYV2FGPKP61ODNCJ9X", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.53411, 0.11554, 2.53 ], "start_rotation": [ 0, 0.92044, 0, 0.39088 ], "object_category": "bed", "info": { "geodesic_distance": 10.14157, "euclidean_distance": 8.54625, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.06174, 0.11554, -1.34373 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", [ "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", [ "ba9458d357074f62bee47dd2e5556854" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3TXWC2NHN1TRI1ES2AYYH7SCAKOS9G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.82879, 0.24323, 6.88856 ], "start_rotation": [ 0, 0.64293, 0, 0.76592 ], "object_category": "sink", "info": { "geodesic_distance": 11.15746, "euclidean_distance": 6.2071, "closest_goal_object_id": 694, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.51306, 0.11554, 2.45284 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1" ] }, { "episode_id": "A1ZE52NWZPN85P:3AAPLD8UCEKLC79QPMRG4TMLSJ7THU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.42887, 0.11554, -6.37986 ], "start_rotation": [ 0, 0.17548, 0, 0.98448 ], "object_category": "shower", "info": { "geodesic_distance": 11.23603, "euclidean_distance": 10.6844, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.72908, 0.11554, 3.95514 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "8b5fb14f2f854a4ea7f05d76adf7a9d9", "path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "ee987ba0e8ee44c1a95ff0f958f31791", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "instruction": "Locate the shower.", "instr_encoding": [ 101, 12453, 1996, 6457, 1012, 102 ], "original_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ], "refined_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4" ] }, { "episode_id": "AKYXQY5IP7S0Z:34S6N1K2ZXMXTU1LGDPPI2C5HEWHLR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.19926, -0.53185, -9.83042 ], "start_rotation": [ 0, 0.9966, 0, -0.08244 ], "object_category": "stool", "info": { "geodesic_distance": 4.45258, "euclidean_distance": 4.26475, "closest_goal_object_id": 222, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.06601, -0.54311, -13.44731 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "0_edge_333_newN_1", "0_edge_333_newN_0", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "45e5c21ecc32454b9390fca6c7d78316" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "45e5c21ecc32454b9390fca6c7d78316", "a406b9208ade4d0d859368e1ec14564f" ], "refined_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_356_newN_0", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", [ "0_edge_471_newN_0", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", [ "0_edge_356_newN_0" ], "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "a406b9208ade4d0d859368e1ec14564f", "5ef3c89e80bd44288091527d30458d16", "ae452693af47490ea50fd1057b04337d", [ "5ef3c89e80bd44288091527d30458d16" ], "45e5c21ecc32454b9390fca6c7d78316", [ "a406b9208ade4d0d859368e1ec14564f" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3C44YUNSI3S68ZBHM9Z68Y6RUXCDPM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.4419, 0.11554, 6.9832 ], "start_rotation": [ 0, 0.10424, 0, -0.99455 ], "object_category": "bathtub", "info": { "geodesic_distance": 11.80761, "euclidean_distance": 9.82619, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.1935, 0.11554, -1.01604 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_561_newN_0", "path": [ "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ], "refined_path": [ "0_edge_561_newN_0", "8702672b13ef44ab85da7062d5647237", "0_edge_347_newN_2", [ "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0" ], "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", [ "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0" ] }, { "episode_id": "A2TUUIV61CR0C7:386CSBG1O1PSN2XHCZ6H2XM8ZYFQ6Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.47971, 0.11554, -3.93376 ], "start_rotation": [ 0, 0.99371, 0, -0.112 ], "object_category": "bed", "info": { "geodesic_distance": 10.6341, "euclidean_distance": 9.66493, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.96463, 0.11554, -2.24383 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_57_newN_0", "path": [ "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A3R5OJR60C6004:3SUWZRL0M0G3QZ7C38BH8GXUG4I6EC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.71463, 0.11554, -5.30584 ], "start_rotation": [ 0, 0.98409, 0, 0.1777 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 2.70574, "euclidean_distance": 2.40777, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.07992, 0.11554, -3.46857 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "2fb14459ed8d496fae1ea1683a23493b" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] ] }, { "episode_id": "A1R0689JPSQ3OF:3HL8HNGX474IEW96WQYZA89XLTO9F6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.46497, -0.64325, -11.08643 ], "start_rotation": [ 0, 0.64284, 0, -0.766 ], "object_category": "bathtub", "info": { "geodesic_distance": 13.69789, "euclidean_distance": 13.01308, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.58149, 0.11554, 1.6698 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "f873b983498b4e18bb5acfade836f2cf", "path": [ "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A1R0689JPSQ3OF:33LK57MYLV86OSW568SXUVU521GZSB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.96648, 0.11554, -9.05917 ], "start_rotation": [ 0, 0.72938, 0, -0.68411 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.25336, "euclidean_distance": 11.4572, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.50782, -0.25379, -9.9956 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "1a4cc7154b1a4e44b8b41f6f6bb7a235", "path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "refined_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ] }, { "episode_id": "A35CL66BEUSJ5Z:3Q5C1WP23O48NUDMM16X9Q01AL415W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.96578, 0.11554, -5.63658 ], "start_rotation": [ 0, 0.86374, 0, 0.50393 ], "object_category": "sofa", "info": { "geodesic_distance": 6.44802, "euclidean_distance": 6.07209, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.82653, -0.55825, -10.89746 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "0_edge_383_newN_2", "path": [ "0_edge_383_newN_2", "5a63b57ef203489e9536ab9c3694f3e6", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "0_edge_383_newN_2", "5a63b57ef203489e9536ab9c3694f3e6", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "0_edge_383_newN_2", "5a63b57ef203489e9536ab9c3694f3e6", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "A2TUUIV61CR0C7:3IUZPWIU1QA46EESQCZO459COABKWT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.60977, -0.68446, -16.99432 ], "start_rotation": [ 0, 0.80017, 0, 0.59978 ], "object_category": "bathtub", "info": { "geodesic_distance": 25.83367, "euclidean_distance": 22.12542, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.47001, 0.11554, 1.66579 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A75XDPFNICR3T:3I2PTA7R3VXZMHI6E30ICGRRGABKQQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.92988, 0.11554, -3.42984 ], "start_rotation": [ 0, 0.70633, 0, -0.70789 ], "object_category": "bathtub", "info": { "geodesic_distance": 5.50033, "euclidean_distance": 5.18667, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.66879, 0.11554, 1.59848 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "2ba3d353cffb46eda191ea81569608f7", "path": [ "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A16K7X677N4WN6:3ZSY5X72NZEIO9ILPAHBONI5ZUORO8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.26752, 2.51554, -12.76288 ], "start_rotation": [ 0, 0.96466, 0, -0.26351 ], "object_category": "toilet", "info": { "geodesic_distance": 8.59259, "euclidean_distance": 7.88893, "closest_goal_object_id": 710, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.26308, 3.11554, -7.65952 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "0_edge_112_newN_0", "path": [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "5ebe5e4ed7384814bde7bdf5aad27e8f", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", [ "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0" ], "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04" ], "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "AYYSG3O9FNU15:3YZ8UPK3VVP9VCDZ3Z3PYYB8EFUCUI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.12277, -4.08446, -16.66689 ], "start_rotation": [ 0, 0.54375, 0, 0.83925 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 14.6644, "euclidean_distance": 10.23293, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89495, -3.08446, -6.76286 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A21ZK49H9LSSRY:3G0WWMR1UXN0UN39BGSY488VXJVQNV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.65147, 0.11554, 3.78069 ], "start_rotation": [ 0, 0.33169, 0, 0.94339 ], "object_category": "plant", "info": { "geodesic_distance": 1.36218, "euclidean_distance": 1.36218, "closest_goal_object_id": 494, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.84738, 0.11554, 4.97385 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "6993d4826f644c37b5632edde130ab67", "path": [ "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "refined_path": [ "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ] ] }, { "episode_id": "AZPZDX26SYMFY:3F6KKYWMND465EZ46UME491WRJEND2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.17118, -3.76262, -14.40023 ], "start_rotation": [ 0, 0.08347, 0, 0.99651 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 12.08913, "euclidean_distance": 8.37536, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.92142, -3.08446, -6.81303 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01" ], "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2MCG5W6LHSRG9:3RU7GD8VPQWCAOUZJZUV3XSRVVDSPC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -0.30661, 3.11554, -4.06724 ], "start_rotation": [ 0, 0.05945, 0, -0.99823 ], "object_category": "sofa", "info": { "geodesic_distance": 3.96465, "euclidean_distance": 3.61918, "closest_goal_object_id": 898, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.03615, 3.11554, -0.82558 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "721eb57eb6c14bdd80a31060a0365ef8", "path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "0_edge_261_newN_0" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", "721eb57eb6c14bdd80a31060a0365ef8", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "721eb57eb6c14bdd80a31060a0365ef8", "1d262441697444b0908ea10b5ce60a59", [ "721eb57eb6c14bdd80a31060a0365ef8" ], "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0" ] }, { "episode_id": "A3F0NFNLOLFJT0:3YMU66OBIPBH72NK5MS95A7X5LHGHN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.12803, 3.11554, -3.96519 ], "start_rotation": [ 0, 0.41128, 0, 0.91151 ], "object_category": "sink", "info": { "geodesic_distance": 3.69861, "euclidean_distance": 2.62789, "closest_goal_object_id": 868, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.42853, 3.11554, -5.93977 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "86f4a6bece3b4edc8e71cc0d03cef2ca", "path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ], "refined_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b" ] }, { "episode_id": "A1R0689JPSQ3OF:3WJEQKOXAA55T0P3HXXEH1GN6EHA1L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.47593, 3.11554, -6.75162 ], "start_rotation": [ 0, 0.43302, 0, 0.90138 ], "object_category": "toilet", "info": { "geodesic_distance": 5.92802, "euclidean_distance": 2.76332, "closest_goal_object_id": 862, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.26358, 3.11554, -5.34356 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ], "refined_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3" ] }, { "episode_id": "A19BDVIRTDE5RQ:3WYP994K19U1W4O339NBFJPAYNV6YD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.67616, 0.11554, -3.40081 ], "start_rotation": [ 0, 0.01233, 0, 0.99992 ], "object_category": "bathtub", "info": { "geodesic_distance": 6.76222, "euclidean_distance": 5.84713, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.60255, 0.11554, 1.63197 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "8d2813d7fcef4b1baaf6fd9e481bf0e0", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Find the bathtub.", "instr_encoding": [ 101, 2424, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", [ "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "AQ0YWEW29GSIJ:3YDGXNSEO1X82BT77HW2J8HVPBI48E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.71934, -3.88446, -13.60866 ], "start_rotation": [ 0, 0.58882, 0, 0.80826 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 21.5075, "euclidean_distance": 11.24127, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.78778, -3.08446, -6.76522 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A1P3HHEXWNLJMP:3LUY3GC6313QRQA7VWWK86WVS887PE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.45667, -0.6612, -12.05655 ], "start_rotation": [ 0, 0.96315, 0, 0.26898 ], "object_category": "counter", "info": { "geodesic_distance": 4.23254, "euclidean_distance": 3.52006, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.97166, 0.11554, -8.93606 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_585_newN_0", "path": [ "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_609_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_609_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00", [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AD1ILDUXZHASF:3F6HPJW4JF39PYA216TK49NJQ122W5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.89917, -4.04581, -15.9271 ], "start_rotation": [ 0, 0.54837, 0, 0.83624 ], "object_category": "picture", "info": { "geodesic_distance": 16.05935, "euclidean_distance": 12.70048, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.98946, -3.016, -3.32663 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "aa00867860b84d36aa756d2dd29fbf5e", "path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AKYXQY5IP7S0Z:3GFK2QRXXBK1OVTPJPVI2GQV791W51", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.88443, -4.08446, -18.62351 ], "start_rotation": [ 0, 0.83296, 0, -0.55334 ], "object_category": "cushion", "info": { "geodesic_distance": 14.92489, "euclidean_distance": 12.4482, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.44873, -3.08446, -6.35584 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Go to the cushion.", "instr_encoding": [ 101, 2175, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", [ "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "aa00867860b84d36aa756d2dd29fbf5e", [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944" ], "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1RQLE4ZMTU22A:3K4J6M3CXGW2XFF6ZGIHOOKT56HGAB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.51146, -0.68446, -16.79132 ], "start_rotation": [ 0, 0.83212, 0, 0.5546 ], "object_category": "counter", "info": { "geodesic_distance": 9.47254, "euclidean_distance": 8.62985, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.99824, 0.11554, -8.91383 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "5ef3c89e80bd44288091527d30458d16", "path": [ "5ef3c89e80bd44288091527d30458d16", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "5ef3c89e80bd44288091527d30458d16", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "5ef3c89e80bd44288091527d30458d16", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1" ], "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "AZPZDX26SYMFY:3PQMUDRV7T9VZO4Z1SAXQYLSXVYII1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.5497, -3.08446, -5.67676 ], "start_rotation": [ 0, 0.92432, 0, 0.38161 ], "object_category": "sink", "info": { "geodesic_distance": 9.72921, "euclidean_distance": 7.9254, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.6921, -3.08446, -4.39416 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A19C2SO0IMRZ1L:3RXPCZQMQRE63R263XPODNRQ44GG1F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.94248, -3.8609, -10.47824 ], "start_rotation": [ 0, 0.99991, 0, -0.01342 ], "object_category": "sofa", "info": { "geodesic_distance": 8.88101, "euclidean_distance": 8.34018, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.88979, -2.88446, -3.99736 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Find the sofa.", "instr_encoding": [ 101, 2424, 1996, 10682, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3T5UAYFKJBVTA:3QHK8ZVMIOLN2HYZGLFTWR97JZIBLP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.14247, 0.03218, 8.10231 ], "start_rotation": [ 0, 0.35053, 0, -0.93655 ], "object_category": "cabinet", "info": { "geodesic_distance": 12.25858, "euclidean_distance": 11.12125, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.4949, 0.11554, -3.06852 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "d6316b40b9c8413386ef184e5a5382ab", "path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A3GWRDHAURRNK6:3NVC2EB65S22ZL1LK7PD8GDRRCZ3YB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.45333, 0.11554, -6.67848 ], "start_rotation": [ 0, 0.90444, 0, 0.42661 ], "object_category": "bathtub", "info": { "geodesic_distance": 14.5719, "euclidean_distance": 8.98064, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.32879, 0.11554, -0.88489 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "8c874344710140e681d78c046d471afc", "path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "34276b7c9d6e491885f36dd1d286e477", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Navigate to the bathtub.", "instr_encoding": [ 101, 22149, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd" ], "34276b7c9d6e491885f36dd1d286e477", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A3L8LSM7V7KX3T:3JZQSN0I3SDXT6WEAW492PVJMQ6FGP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.07467, 0.11554, 6.89076 ], "start_rotation": [ 0, 0.86402, 0, 0.50345 ], "object_category": "towel", "info": { "geodesic_distance": 10.70919, "euclidean_distance": 8.40292, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.42574, 0.11554, -0.25968 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "104c429382034f88a37f95c5888e3557", "path": [ "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "3229309326224f1b93f98c1ed36594da", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_509_newN_1", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557" ], "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df" ], "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6", [ "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "24dbd843e0fe400baa0228c00158bb29", "2ba3d353cffb46eda191ea81569608f7", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A1R0689JPSQ3OF:3AMW0RGHOF5FUB2UB3D943IKRBYNPZ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.56119, 0.11554, -0.84288 ], "start_rotation": [ 0, 0.80911, 0, -0.58765 ], "object_category": "sofa", "info": { "geodesic_distance": 11.68358, "euclidean_distance": 10.98378, "closest_goal_object_id": 217, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.7438, -0.5744, -10.92067 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "4f0a87d560244c2f926f2110e9dfc1e4", "path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Locate the sofa.", "instr_encoding": [ 101, 12453, 1996, 10682, 1012, 102 ], "original_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "refined_path": [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ] ] }, { "episode_id": "A3TYCJO2DG3RMH:3NAPMVF0ZYIUZJ91TYL8CTO2X8L27R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.48436, 0.11554, -2.02084 ], "start_rotation": [ 0, 0.27055, 0, 0.9627 ], "object_category": "cabinet", "info": { "geodesic_distance": 7.71423, "euclidean_distance": 7.19201, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.5374, 0.11554, -5.91887 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_65_newN_0", "path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A19317A3X87NVM:39L1G8WVWSU59FQI8II4UT2H0ZQ137", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.65624, -3.08446, -8.34603 ], "start_rotation": [ 0, 0.88291, 0, 0.46955 ], "object_category": "chair", "info": { "geodesic_distance": 16.90458, "euclidean_distance": 14.38481, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.60516, -3.9484, -21.67779 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "38808050304946dfb262966b02c6ae4e", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b3fb49d922374aaf81242f21d39d214d", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_500_newN_0", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd" ], "0f0c966446e24bdc958349d0d9c3e09e", [ "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1", [ "0_edge_88_newN_0" ], "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f" ], "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "ASQ460H8M8OOT:3KWTYT08726LD1HQFBOGT59ERR0L5U", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.15563, -4.08446, -19.2148 ], "start_rotation": [ 0, 0.90189, 0, 0.43197 ], "object_category": "chair", "info": { "geodesic_distance": 3.6013, "euclidean_distance": 3.32964, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.36232, -3.92411, -21.70512 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "74230db02c1748bb89b3ada696cb5deb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "4d53b2df82b3494a80822eba94c31f2f", "b3fb49d922374aaf81242f21d39d214d", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", "b634b67520bf4c579f044a8e433b021d", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0f0c966446e24bdc958349d0d9c3e09e", "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", [ "b726980e1c804d86856a2d0dd472e571" ], "74230db02c1748bb89b3ada696cb5deb", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d" ], "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813" ], "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30" ], "b3fb49d922374aaf81242f21d39d214d", [ "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1" ], "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "372d9c5a8d394815a470573708b4f8cd" ], "0f0c966446e24bdc958349d0d9c3e09e", [ "372d9c5a8d394815a470573708b4f8cd", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e", [ "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571" ], "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", [ "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e" ], "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] ] }, { "episode_id": "A272X64FOZFYLB:3JW0YLFXRVJV1E89FQIRSG38E09WWX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.85924, 0.11554, -1.44286 ], "start_rotation": [ 0, 0.47522, 0, 0.87987 ], "object_category": "toilet", "info": { "geodesic_distance": 7.80519, "euclidean_distance": 5.15646, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.67273, 0.11554, 1.68132 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "814d798917b14527a61e1135e74d6bba" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d", "814d798917b14527a61e1135e74d6bba" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ], "814d798917b14527a61e1135e74d6bba" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3QRYMNZ7F0KDM3V1SKMT9DJIX02NTE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.56564, -3.82767, -11.79317 ], "start_rotation": [ 0, 0.8511, 0, -0.525 ], "object_category": "table", "info": { "geodesic_distance": 7.91608, "euclidean_distance": 5.9562, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.42144, -3.08446, -6.4184 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "853fb2412aa04958bdeb58a0c2a5f654", "path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3WYP994K19U1W4O339NBFJPBEC46YI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.63839, -0.68446, -17.48683 ], "start_rotation": [ 0, 0.30976, 0, -0.95082 ], "object_category": "picture", "info": { "geodesic_distance": 6.79277, "euclidean_distance": 6.41505, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.58921, -0.68446, -11.41163 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "8d3e229a4b574c5d9cb86d2099f49d86", "path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6" ], "refined_path": [ "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "5a63b57ef203489e9536ab9c3694f3e6" ] }, { "episode_id": "A1NKBXOTZAI1YK:3BXQMRHWK11M4YPQGOX31UGK7DWMUB", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.3471, 0.14159, 5.64995 ], "start_rotation": [ 0, 0.00221, 0, 1 ], "object_category": "sofa", "info": { "geodesic_distance": 7.45689, "euclidean_distance": 5.441, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.95972, 0.11554, 0.87913 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1" ], "instruction": "Go to the sofa.", "instr_encoding": [ 101, 2175, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "A3FPPZWMQOANR4:3UN61F00HYSWGZC3KVLCFHIEIYQ5RM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.71018, 0.11554, -8.03815 ], "start_rotation": [ 0, 0.97594, 0, 0.21806 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.01519, "euclidean_distance": 11.343, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.5588, -0.33958, -10.09648 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "1a4cc7154b1a4e44b8b41f6f6bb7a235", "path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "7a381be117474e159e339b7bcce0baf3", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "dec940911e0a44e7b51b8fa218fb3550", "00e65e341f5843d385964e17103e6ae3", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "1a4cc7154b1a4e44b8b41f6f6bb7a235", "889965f33b0e46938abc58b97fda5aef", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", [ "8c874344710140e681d78c046d471afc" ], "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740" ], "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710" ], "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3ERMJ6L4D0VK6NDU3G4SR22ZMWTM7C", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.54752, 3.11554, -3.23716 ], "start_rotation": [ 0, 0.929, 0, -0.37007 ], "object_category": "cushion", "info": { "geodesic_distance": 18.09159, "euclidean_distance": 15.0113, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.72063, 3.11554, -0.60835 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0" ] }, { "episode_id": "A272X64FOZFYLB:3A9AA95ATYPB4MWO73HNAMIZHFP5PF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.72552, -3.88446, -9.82944 ], "start_rotation": [ 0, 0.97559, 0, -0.2196 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 7.7399, "euclidean_distance": 5.01531, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.97769, -3.08446, -6.8587 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", [ "d2e318aae7cb4c0198f72c97f7d2aedb" ], "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A28HB7240OFGEW:3K4J6M3CXGW2XFF6ZGIHOOKT56RAGF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.25269, 3.11554, -5.98314 ], "start_rotation": [ 0, 0.38388, 0, 0.92338 ], "object_category": "seating", "info": { "geodesic_distance": 13.84235, "euclidean_distance": 7.44592, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.80369, 3.11554, -6.85462 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "8646134295d2446ba7e27db2fd6da710", "path": [ "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "86f4a6bece3b4edc8e71cc0d03cef2ca", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "6bd6fde111574af289492ba17859be83", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "ee7f6616e9894db580c78b08a6aa7343", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9" ], "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "6bd6fde111574af289492ba17859be83", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A31BA1WLSWUSY1:3X31TUMD7ZPMPJG7EOM4QFWYKCBL11", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.26865, 0.11554, -6.41973 ], "start_rotation": [ 0, 0.72562, 0, -0.6881 ], "object_category": "plant", "info": { "geodesic_distance": 3.99133, "euclidean_distance": 3.59963, "closest_goal_object_id": 291, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.19833, 0.11554, -8.28529 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "8c874344710140e681d78c046d471afc", "path": [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A75XDPFNICR3T:39RP059MEJW78ZGKGXG8W4OWJA9BM4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.1954, 0.11554, -8.99032 ], "start_rotation": [ 0, 0.947, 0, -0.32124 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.43935, "euclidean_distance": 3.82383, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.51298, -0.41478, -10.1962 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "eaa924cd93794010a866d09389edd172", "path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0" ] }, { "episode_id": "A2L26DMSVUEDP6:3ZPPDN2SLXZQ8I9A1FETSQOX9R29EF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.51121, 3.11554, -4.32701 ], "start_rotation": [ 0, 0.98551, 0, -0.16964 ], "object_category": "seating", "info": { "geodesic_distance": 10.00929, "euclidean_distance": 6.33746, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.58364, 3.11554, -6.74311 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "a0b14b141fcd42ac8c56f66ede5be8b0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", [ "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", [ "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "A3LRZX8477TYYZ:3QUO65DNQWRA41A2T4CGTY5OPB5UO9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.35095, -4.08446, -18.24289 ], "start_rotation": [ 0, 0.99673, 0, 0.08075 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 16.2905, "euclidean_distance": 12.39149, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.87503, -3.08446, -6.82936 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A21ZK49H9LSSRY:30JNVC0ORBN8KRHY8IXLZOBZOHTQHQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.88597, -3.8135, -12.46155 ], "start_rotation": [ 0, 0.89962, 0, -0.43668 ], "object_category": "table", "info": { "geodesic_distance": 22.99841, "euclidean_distance": 13.06734, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.30159, -3.08446, -6.33387 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Go to the table.", "instr_encoding": [ 101, 2175, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "AOMFEAWQHU3D8:3OVR4I9USRME8FT3TBD25Z2VMG84QU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.58424, -0.68446, -19.9082 ], "start_rotation": [ 0, 0.55148, 0, -0.83419 ], "object_category": "bathtub", "info": { "geodesic_distance": 23.18801, "euclidean_distance": 22.07752, "closest_goal_object_id": 386, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.48495, 0.11554, 1.54827 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_409_newN_0", "path": [ "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "ae452693af47490ea50fd1057b04337d", "0_edge_373_newN_0", [ "ae452693af47490ea50fd1057b04337d" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A29CNQYJWMJ7G9:3B1NLC6UG1Z9KJL8OZ0EEJ9NQ0XPGG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.37847, -4.08446, -18.74824 ], "start_rotation": [ 0, 0.89734, 0, -0.44134 ], "object_category": "bed", "info": { "geodesic_distance": 3.06545, "euclidean_distance": 2.93418, "closest_goal_object_id": 12, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.80834, -3.79483, -15.78808 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", [ "b634b67520bf4c579f044a8e433b021d" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:32M8BPYGAVPH3XY4B4AU5M8CL6OIG6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.44125, 0.11554, -2.86677 ], "start_rotation": [ 0, 0.96673, 0, -0.25579 ], "object_category": "sofa", "info": { "geodesic_distance": 4.59662, "euclidean_distance": 4.08441, "closest_goal_object_id": 509, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.23076, 0.11554, 0.58214 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "945b55df8540463ba66ab57abbed4869", "path": [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0" ], "refined_path": [ "945b55df8540463ba66ab57abbed4869", "769866f82e6b4388b8b63023532685e0", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", [ "0_edge_343_newN_0" ] ] }, { "episode_id": "AKYXQY5IP7S0Z:3G0WWMR1UXN0UN39BGSY488V9I0QNA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.74069, -3.75324, -14.936 ], "start_rotation": [ 0, 0.99997, 0, -0.00712 ], "object_category": "sofa", "info": { "geodesic_distance": 9.01762, "euclidean_distance": 6.59103, "closest_goal_object_id": 7, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.34338, -3.88446, -21.03769 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "74230db02c1748bb89b3ada696cb5deb", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "74230db02c1748bb89b3ada696cb5deb", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A3APKUC67F9IMW:3U84XHCDIEGNM7UUG7WFWSEZRE84ZT", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.79066, 3.12325, -0.26848 ], "start_rotation": [ 0, 0.09734, 0, 0.99525 ], "object_category": "chair", "info": { "geodesic_distance": 2.93054, "euclidean_distance": 2.65903, "closest_goal_object_id": 892, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.31912, 3.11554, -2.58441 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "577717ce6ca248799fa9bcece8f9d32e", "path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "refined_path": [ "577717ce6ca248799fa9bcece8f9d32e", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ] }, { "episode_id": "A3F0NFNLOLFJT0:3J2UYBXQQNF4Z9SIV1C2NRVQOGP60Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.53403, -4.08446, -15.76684 ], "start_rotation": [ 0, 0.98391, 0, -0.17867 ], "object_category": "shower", "info": { "geodesic_distance": 4.57648, "euclidean_distance": 3.05332, "closest_goal_object_id": 31, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.0986, -3.88446, -17.66855 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571" ], "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A1NSHNH3MNFRGW:34T446B1C2HTFQ1J5SP59RN0K3AC09", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.58319, 0.11554, 8.39701 ], "start_rotation": [ 0, 0.91748, 0, 0.39778 ], "object_category": "cabinet", "info": { "geodesic_distance": 14.42, "euclidean_distance": 12.35987, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.57237, 0.11554, -2.91016 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2" ], "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AOWW3URQNRJ6U:3PPTZCWALSNUBCHSE43SZVF4K6MQZQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.64357, 3.11554, -4.93678 ], "start_rotation": [ 0, 0.99427, 0, -0.10689 ], "object_category": "cushion", "info": { "geodesic_distance": 12.45146, "euclidean_distance": 10.7924, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.67479, 3.11554, -0.64295 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "447e9619e3b641f790ab3d9f8666b3d1", "path": [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Locate the cushion.", "instr_encoding": [ 101, 12453, 1996, 22936, 1012, 102 ], "original_path": [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A19C2SO0IMRZ1L:3H7XDTSHKEUZ4SI90LE96DHK0LFGWC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.68854, -4.08446, -16.47133 ], "start_rotation": [ 0, 0.9491, 0, -0.31497 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 14.92928, "euclidean_distance": 9.95438, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.88685, -3.08446, -6.81401 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "d8404ae7e4a045c29e8a991181424a01", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", [ "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571" ], "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "AOG0PUCLMU0HH:3OF2M9AATIR809JX1ZJV393U51YZKV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.70333, -3.48446, -13.01294 ], "start_rotation": [ 0, 0.4044, 0, -0.91458 ], "object_category": "cabinet", "info": { "geodesic_distance": 11.2236, "euclidean_distance": 8.22855, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.63499, -3.08446, -4.889 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "b634b67520bf4c579f044a8e433b021d", "path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "refined_path": [ "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", [ "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", [ "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ] }, { "episode_id": "A1P3HHEXWNLJMP:3YMTUJH0DUJR0VLVAF7XA4DI3PZ4T1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.46995, 0.11554, 5.73725 ], "start_rotation": [ 0, 0.84793, 0, -0.53011 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 13.59663, "euclidean_distance": 9.84257, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.58348, 0.11554, -1.12791 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_347_newN_2", "path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "7a42af4caa814affbce3c5325c0eb181", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "0_edge_347_newN_2", "8702672b13ef44ab85da7062d5647237", "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "7a42af4caa814affbce3c5325c0eb181", [ "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "A19C2SO0IMRZ1L:3MX2NQ3YCBXGDVYFTUR44Z42GB8X5W", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.88902, -3.97568, -16.8614 ], "start_rotation": [ 0, 0.92236, 0, 0.38632 ], "object_category": "cabinet", "info": { "geodesic_distance": 14.07048, "euclidean_distance": 12.16105, "closest_goal_object_id": 1018, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.65378, -3.08446, -4.76375 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052" ] }, { "episode_id": "A2TUUIV61CR0C7:39GHHAVOMHUXMSPQYLTT8YQ946AJ4E", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.70114, -3.08446, -5.2487 ], "start_rotation": [ 0, 0.43032, 0, 0.90268 ], "object_category": "sofa", "info": { "geodesic_distance": 9.4388, "euclidean_distance": 8.29544, "closest_goal_object_id": 110, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.94997, -2.88446, -3.83737 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sofa", "start_potision_viewpoint_id": "6f87bf60f1984f31a2af16a91f502ad9", "path": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the sofa.", "instr_encoding": [ 101, 22149, 2000, 1996, 10682, 1012, 102 ], "original_path": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", [ "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A1P3HHEXWNLJMP:317HQ483I9VNDPFQY8NPV6H9MITINX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.22587, 3.11554, -6.13531 ], "start_rotation": [ 0, 0.42153, 0, 0.90681 ], "object_category": "shower", "info": { "geodesic_distance": 14.59189, "euclidean_distance": 3.55703, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.50307, 3.11554, -2.86508 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "0_edge_225_newN_1", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "5260f113c5f542a8b6b115cbdfc9fef5", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "AIOOOO5OXWXKM:3TS1AR6UQSHE0DLDHT0FWCIR6FGF7K", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.97011, 0.11554, 0.38186 ], "start_rotation": [ 0, 0.38206, 0, 0.92414 ], "object_category": "stool", "info": { "geodesic_distance": 7.59417, "euclidean_distance": 6.76126, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.85174, 0.11554, 3.57703 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "ee987ba0e8ee44c1a95ff0f958f31791", "path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "0_edge_476_newN_0", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "0_edge_202_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d" ], "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", [ "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "A16K7X677N4WN6:324G5B4FB5BN396NEBHUT5VN0ET70C", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.74447, -0.68446, -18.45812 ], "start_rotation": [ 0, 0.09515, 0, -0.99546 ], "object_category": "seating", "info": { "geodesic_distance": 10.99113, "euclidean_distance": 10.38628, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.35746, 0.11554, -8.60172 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_373_newN_0", "path": [ "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "c662afaab01a4c338d739c7600478db2", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c" ], "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", [ "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", [ "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "AIOOOO5OXWXKM:3E4GGUZ1TAUIUYGLCSAHGYTNMAQ2KJ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.47411, 0.11554, 1.7155 ], "start_rotation": [ 0, 0.2531, 0, 0.96744 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.06837, "euclidean_distance": 5.55912, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.56966, 0.11554, -2.93771 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "0_edge_191_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67" ], "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1NSHNH3MNFRGW:3PH3VY7DJN0ZV9DEQD2YRKXQV28WZI", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.25799, -0.68446, -15.90259 ], "start_rotation": [ 0, 0.44018, 0, -0.89791 ], "object_category": "toilet", "info": { "geodesic_distance": 25.33235, "euclidean_distance": 20.97281, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.72946, 0.11554, 1.54861 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A1ZE52NWZPN85P:3ZV9H2YQQFAYAG6L567PNJSAF0WW3R", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.92362, -3.81651, -13.72948 ], "start_rotation": [ 0, 0.22287, 0, -0.97485 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 11.50141, "euclidean_distance": 7.66907, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.87273, -3.08446, -6.81375 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:30OG32W0SWEBXKD42PXYARJHR22ENN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.86968, -3.73855, -15.50393 ], "start_rotation": [ 0, 0.27663, 0, -0.96098 ], "object_category": "sink", "info": { "geodesic_distance": 13.17532, "euclidean_distance": 11.25768, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.61977, -3.08446, -4.44361 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Locate the sink.", "instr_encoding": [ 101, 12453, 1996, 7752, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3T5UAYFKJBVTA:3S4AW7T80DL3HIDQ1656OD31C9I4L0", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.55333, 0.11554, -2.49252 ], "start_rotation": [ 0, 0.88116, 0, 0.47282 ], "object_category": "plant", "info": { "geodesic_distance": 2.93792, "euclidean_distance": 2.77535, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.23824, 0.11554, -1.69904 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "3389b852c9c84bbeb9855d46d3637a1d", "path": [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ], "refined_path": [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3UNH76FOCU83L79VQPUS4FMWOG9MYO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.55571, 0.11554, 7.00827 ], "start_rotation": [ 0, 0.87906, 0, 0.47671 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 11.91725, "euclidean_distance": 10.08915, "closest_goal_object_id": 577, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.48699, 0.11554, -1.19943 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "0_edge_561_newN_0", "path": [ "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f7d0095f6ae347d7b4d6f1b653005f4c", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "3229309326224f1b93f98c1ed36594da", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "0_edge_561_newN_0", "104c429382034f88a37f95c5888e3557", "0_edge_560_newN_1", [ "104c429382034f88a37f95c5888e3557" ], "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "bc988e98c7e44f129dcc49976264f7b1", [ "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", [ "f873b983498b4e18bb5acfade836f2cf" ], "f7d0095f6ae347d7b4d6f1b653005f4c", [ "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", [ "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b" ], "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3B3WTRP3DD5YD2XU8VJSQPF8PA692S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.30088, 2.67919, -15.10641 ], "start_rotation": [ 0, 0.99929, 0, 0.03771 ], "object_category": "towel", "info": { "geodesic_distance": 10.11636, "euclidean_distance": 7.81232, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.30829, 3.11554, -7.53415 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "fa3b4a397c084131bcdd2e6954dab4e5", "path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", "fa3b4a397c084131bcdd2e6954dab4e5", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "fa3b4a397c084131bcdd2e6954dab4e5", "0_edge_198_newN_0", [ "fa3b4a397c084131bcdd2e6954dab4e5" ], "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42" ], "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A2Q6L9LKSNU7EB:31QTRG6Q2VG96A68I5MKLJGSCHRYPG", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.6722, -4.08446, -19.23366 ], "start_rotation": [ 0, 0.73925, 0, -0.67343 ], "object_category": "table", "info": { "geodesic_distance": 16.03599, "euclidean_distance": 12.99143, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.37865, -3.08446, -6.36391 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "56afcfda8a6b45b499770f816eb67944", "path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ] }, { "episode_id": "A2R2YZTSME1K3F:3AWETUDC94VHUET91WYJQTOIT4EIZ4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.0982, 3.11554, -3.02041 ], "start_rotation": [ 0, 0.90175, 0, 0.43227 ], "object_category": "seating", "info": { "geodesic_distance": 4.37869, "euclidean_distance": 4.00471, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.7611, 3.11554, -6.80887 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "86f4a6bece3b4edc8e71cc0d03cef2ca", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1" ], "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A74PT3GRDMEZ:3WZ36BJEV5JBLU64PUHKIIJOGEATBN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.29943, -3.88446, -14.0183 ], "start_rotation": [ 0, 0.92736, 0, 0.37416 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 12.25658, "euclidean_distance": 10.44104, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.89754, -3.08446, -6.87243 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A182N7RLXGSCZG:3WMOAN2SRD0SZVZQXFM8AV72DZ2VNV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.43865, 0.11554, 2.30109 ], "start_rotation": [ 0, 0.99517, 0, 0.09816 ], "object_category": "bed", "info": { "geodesic_distance": 9.89947, "euclidean_distance": 8.52787, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.97247, 0.11554, -1.43809 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "add7a68256564d1b85b560fb614beedd", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83", [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906" ], "add7a68256564d1b85b560fb614beedd", [ "b0a3ea6e7efb429eab0d0ede3174f906", "b1e41a74f03a4ceeabd6a6da3dc557b2", "19ae938a01884f31bb5b758b5a8feb83" ], "d6316b40b9c8413386ef184e5a5382ab", "701293ca052c452c8454a11cf5f140f5", [ "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd" ], "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "AIOOOO5OXWXKM:3QXNC7EIPKYRHSUGT8FE71MTV3S09Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.32697, 0.11554, -2.4513 ], "start_rotation": [ 0, 0.29421, 0, 0.95574 ], "object_category": "plant", "info": { "geodesic_distance": 6.39947, "euclidean_distance": 5.97187, "closest_goal_object_id": 508, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -17.18712, 0.11554, 3.18364 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "945b55df8540463ba66ab57abbed4869", "path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "refined_path": [ "945b55df8540463ba66ab57abbed4869", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ] }, { "episode_id": "A2TUUIV61CR0C7:3EWIJTFFVQA8COLX1JV0ZFN4J9O0EV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.06123, 0.11554, 0.61281 ], "start_rotation": [ 0, 0.45856, 0, 0.88866 ], "object_category": "toilet", "info": { "geodesic_distance": 1.1961, "euclidean_distance": 1.12008, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.48027, 0.11554, 1.57586 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "2fb14459ed8d496fae1ea1683a23493b", "path": [ "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Navigate to the toilet.", "instr_encoding": [ 101, 22149, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A2TUUIV61CR0C7:30LSNF239WYRO3QXCPP53IEB8PQ2IF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.42063, 0.11554, -8.79211 ], "start_rotation": [ 0, 0.44217, 0, -0.89693 ], "object_category": "picture", "info": { "geodesic_distance": 2.35321, "euclidean_distance": 2.16761, "closest_goal_object_id": 625, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.82104, 0.11554, -6.60493 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "cadc13ee1b3e4b04b720062aa5f765fb", "path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ], "refined_path": [ "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1" ] }, { "episode_id": "A26LOVXF4QZZCO:3Y54SXRO1NOQHTFAPLYFN8BC22GTU6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.91469, 0.11554, 0.72854 ], "start_rotation": [ 0, 0.17373, 0, 0.98479 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 1.68057, "euclidean_distance": 1.37796, "closest_goal_object_id": 354, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -1.17702, 0.11554, -0.43566 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "2fb14459ed8d496fae1ea1683a23493b", "path": [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A3GWRDHAURRNK6:3KYQYYSHYXAONZZG79MRJY101TSDOY", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.98028, 0.11554, 3.07698 ], "start_rotation": [ 0, 0.5992, 0, 0.8006 ], "object_category": "counter", "info": { "geodesic_distance": 6.92237, "euclidean_distance": 4.71222, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.22554, 0.11554, 2.41184 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "b0a3ea6e7efb429eab0d0ede3174f906", "path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3TMFV4NEPAHKBDCRHN2LE00MC3YW8A", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.3484, -0.52841, -12.18756 ], "start_rotation": [ 0, 0.3417, 0, 0.93981 ], "object_category": "counter", "info": { "geodesic_distance": 8.72376, "euclidean_distance": 7.18879, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.91553, 0.11554, -8.86875 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_471_newN_0", "path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2" ], "instruction": "Navigate to the counter.", "instr_encoding": [ 101, 22149, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "refined_path": [ "0_edge_471_newN_0", "95d84f2a4d334b9589b00bd2ee8c41d5", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2" ] }, { "episode_id": "A2TUUIV61CR0C7:3TR2532VIRXB1FT4H9M85WAN4BZ6J1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.98398, -0.68446, -19.93067 ], "start_rotation": [ 0, 0.31993, 0, 0.94744 ], "object_category": "picture", "info": { "geodesic_distance": 10.2801, "euclidean_distance": 9.58194, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.53243, -0.68446, -11.43438 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0" ] ] }, { "episode_id": "A7XL1V3G7C2VV:3OJSZ2ATDUZMYGSOBHN6A0RD0ZK57I", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.57468, 2.65779, -15.56478 ], "start_rotation": [ 0, 0.90665, 0, -0.42189 ], "object_category": "cushion", "info": { "geodesic_distance": 23.84586, "euclidean_distance": 16.47402, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.7779, 3.11554, -0.51131 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "e056e877de1f47c9a08bb295c285f51a", "path": [ "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_115_newN_0", "0_edge_130_newN_0", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", [ "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30" ], "0_edge_133_newN_0", [ "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b" ], "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0" ], "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A2GQH4SWIOFH2L:3NC5L260MQPLLJDCYFHH7Y4MW44OFX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.8395, 0.11554, -6.09242 ], "start_rotation": [ 0, 0.72743, 0, 0.68618 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 3.26388, "euclidean_distance": 2.61016, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.93822, 0.11554, -3.52458 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "8b5fb14f2f854a4ea7f05d76adf7a9d9", "path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "AQ0YWEW29GSIJ:3T3IWE1XG8QYP08T8CEAD7ENZ11TQW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.853, 0.11554, -8.81037 ], "start_rotation": [ 0, 0.59949, 0, -0.80039 ], "object_category": "bed", "info": { "geodesic_distance": 9.63488, "euclidean_distance": 8.51218, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.86506, 0.11554, -2.67974 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "3d6cd6d157704b8abe96332301d16436", "path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4" ], "refined_path": [ "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ] ] }, { "episode_id": "A3FSDH6HUZPNQ8:3WYGZ5XF3YIBZXXJ67PN7G6SLC9SKF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.55496, 3.11554, -2.21086 ], "start_rotation": [ 0, 0.91915, 0, -0.3939 ], "object_category": "counter", "info": { "geodesic_distance": 8.9491, "euclidean_distance": 6.08777, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.36905, 3.11554, -6.70291 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_443_newN_1", "path": [ "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", [ "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A3T5UAYFKJBVTA:3P1L2B7AD3S7LBN8KQKF2B95CLYLOU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -1.55594, 3.11554, -3.1203 ], "start_rotation": [ 0, 0.77492, 0, -0.63206 ], "object_category": "stool", "info": { "geodesic_distance": 15.24187, "euclidean_distance": 13.36729, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.9945, 3.11554, -2.41095 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0_edge_16_newN_0", "path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ], "instruction": "Navigate to the stool.", "instr_encoding": [ 101, 22149, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ], "refined_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", [ "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1" ] }, { "episode_id": "A2TUUIV61CR0C7:3YZ8UPK3VVP9VCDZ3Z3PYYB8DZ5CUW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.7574, 0.11554, -6.05729 ], "start_rotation": [ 0, 0.64969, 0, 0.7602 ], "object_category": "bed", "info": { "geodesic_distance": 14.28881, "euclidean_distance": 13.29595, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.9285, 0.11554, -2.62814 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "a4e473fa0bca4c69b866e03b222975e1", "path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A3K1P4SPR8XS7R:33M4IA01QI45IIWDQ147709Y8ZLRX4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.24143, -0.68017, -16.3419 ], "start_rotation": [ 0, 0.93267, 0, 0.36073 ], "object_category": "plant", "info": { "geodesic_distance": 6.41551, "euclidean_distance": 5.7738, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.0069, -0.59971, -13.7441 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "519643de8cf8414db0d0191bab30f32d", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "519643de8cf8414db0d0191bab30f32d", [ "8d3e229a4b574c5d9cb86d2099f49d86" ], "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0" ] }, { "episode_id": "A3HL2LL0LEPZT8:3IXQG4FA2V1S1FXQROC3RIIB5RPB98", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.5168, 3.11554, -7.03055 ], "start_rotation": [ 0, 0.08537, 0, 0.99635 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 7.79823, "euclidean_distance": 7.14362, "closest_goal_object_id": 969, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.11391, 2.87959, -9.86595 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "6e8e41636dc84e94af80d009663e7c75", "path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "ee51e32e785e4649ae13c9152ec68893", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0", "151c624d368e4ca9b262e26421228101", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "aa685f88bd7b46e89ef630e72c72903b", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "instruction": "Locate the drawers.", "instr_encoding": [ 101, 12453, 1996, 22497, 1012, 102 ], "original_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0", "151c624d368e4ca9b262e26421228101", "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ], "refined_path": [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", [ "6f73ed74234145baac0b9b2854a95610" ], "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "ee51e32e785e4649ae13c9152ec68893", [ "6dbb762da390463f83fc26b02e723259" ], "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0", "151c624d368e4ca9b262e26421228101", [ "0_edge_215_newN_0", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed" ], "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "721eb57eb6c14bdd80a31060a0365ef8" ] }, { "episode_id": "A1P3HHEXWNLJMP:3S06PH7KST73R7SF17OG72OTB4F1D9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.73449, -0.68446, -17.25011 ], "start_rotation": [ 0, 0.50807, 0, 0.86131 ], "object_category": "plant", "info": { "geodesic_distance": 6.13329, "euclidean_distance": 5.81631, "closest_goal_object_id": 228, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.01706, -0.60533, -13.76412 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "cd0f3ba84a5f4885a6b2f8626db0f0d0", "path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "instruction": "Navigate to the plant.", "instr_encoding": [ 101, 22149, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ], "refined_path": [ "cd0f3ba84a5f4885a6b2f8626db0f0d0", "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6", "0_edge_383_newN_2" ] }, { "episode_id": "A2J5DN5UMU0A3Z:3PXX5PX6LZ166Y7VJUQ3NDTWSMRABF", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.54219, 3.11554, -3.91046 ], "start_rotation": [ 0, 0.8839, 0, 0.46768 ], "object_category": "cushion", "info": { "geodesic_distance": 11.57897, "euclidean_distance": 10.32314, "closest_goal_object_id": 920, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.69149, 3.11554, -0.63738 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_439_newN_0", "path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "0_edge_130_newN_0", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "5260f113c5f542a8b6b115cbdfc9fef5", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ], "refined_path": [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b" ], "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", [ "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1" ], "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "201e139a7dba42d494a8290754252134" ] }, { "episode_id": "A2TUUIV61CR0C7:3E13VNJ1NPYKZI81TLPRYZ46GI6I16", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.31404, 3.11554, -3.56109 ], "start_rotation": [ 0, 0.94975, 0, -0.313 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.69999, "euclidean_distance": 3.29979, "closest_goal_object_id": 935, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.19091, 3.11554, -6.7931 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_439_newN_1", "path": [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Navigate to the cabinet.", "instr_encoding": [ 101, 22149, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A2TUUIV61CR0C7:3K772S5NPAEJNORTZR2L57ML8HQEHW", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.61283, -4.08446, -20.15854 ], "start_rotation": [ 0, 0.58779, 0, -0.80902 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 17.93871, "euclidean_distance": 13.97177, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.9384, -3.08446, -6.82976 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "a8620ab48374402187c81c4ccb48e01b", "path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2TUUIV61CR0C7:3AMYWKA6YDPP2QK1XMEDDSR907Y6OA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.86826, 0.13209, 6.07588 ], "start_rotation": [ 0, 0.91041, 0, -0.4137 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 12.67295, "euclidean_distance": 11.7775, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.84573, 0.11554, -3.28986 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0_edge_576_newN_0" ], "instruction": "Navigate to the drawers.", "instr_encoding": [ 101, 22149, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", [ "c662afaab01a4c338d739c7600478db2" ], "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2" ], "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0" ] }, { "episode_id": "A21ZK49H9LSSRY:3DY46V3X3RL7BCE5NO89CGDINI1559", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.17895, 3.18929, -8.97658 ], "start_rotation": [ 0, 0.54055, 0, -0.84131 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 5.94106, "euclidean_distance": 3.0136, "closest_goal_object_id": 969, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.01472, 2.78098, -9.96055 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "6bd0017610ff445698c3aad76b4f9e12", "path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610", "95c9fb86dcb14fcabab35769b14beb1e", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "ee51e32e785e4649ae13c9152ec68893", "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ], "refined_path": [ "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", [ "6dbb762da390463f83fc26b02e723259" ], "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "ee51e32e785e4649ae13c9152ec68893", "6bd0017610ff445698c3aad76b4f9e12", "ee51e32e785e4649ae13c9152ec68893", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9" ], "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de" ] ] }, { "episode_id": "AOMFEAWQHU3D8:3I2PTA7R3VXZMHI6E30ICGRQ2GFKQQ", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.28104, 0.11554, -7.06865 ], "start_rotation": [ 0, 0.96308, 0, -0.26921 ], "object_category": "cushion", "info": { "geodesic_distance": 9.40991, "euclidean_distance": 8.3835, "closest_goal_object_id": 526, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.19739, 0.11554, 1.17545 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_152_newN_0", "path": [ "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "instruction": "Find the cushion.", "instr_encoding": [ 101, 2424, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ], "refined_path": [ "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "a4e473fa0bca4c69b866e03b222975e1", [ "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0" ], "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3" ] }, { "episode_id": "A3O5RKGH6VB19C:3AMYWKA6YDPP2QK1XMEDDSR8K8ZO6D", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.9779, 0.11554, -0.6125 ], "start_rotation": [ 0, 0.50153, 0, 0.86514 ], "object_category": "seating", "info": { "geodesic_distance": 4.42314, "euclidean_distance": 3.48613, "closest_goal_object_id": 352, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.98386, 0.11554, -2.30608 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A3O5RKGH6VB19C:3A4NIXBJ782JL82W7A52A7K0HKALM4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.514, 0.11554, 8.36341 ], "start_rotation": [ 0, 0.1833, 0, -0.98306 ], "object_category": "stool", "info": { "geodesic_distance": 16.00453, "euclidean_distance": 8.00287, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.83332, 0.11554, 3.64817 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "a5ccd398f969476da588bf4955c76e8e", "path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "instruction": "Find the stool.", "instr_encoding": [ 101, 2424, 1996, 14708, 1012, 102 ], "original_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ], "refined_path": [ "a5ccd398f969476da588bf4955c76e8e", "e91955faab2b4a60ac33f48771b21c54", "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67" ] }, { "episode_id": "AOG0PUCLMU0HH:3R2PKQ87NYBHV7UQM78PIRS8YSEIM7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.46166, 0.11554, -0.83761 ], "start_rotation": [ 0, 0.99341, 0, 0.11461 ], "object_category": "table", "info": { "geodesic_distance": 4.29172, "euclidean_distance": 3.81236, "closest_goal_object_id": 628, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.89418, 0.11554, -2.2933 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "0bee565558544262b0368f2a92702677", "path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6" ], "instruction": "Find the table.", "instr_encoding": [ 101, 2424, 1996, 2795, 1012, 102 ], "original_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6" ], "refined_path": [ "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "5a63b57ef203489e9536ab9c3694f3e6" ] }, { "episode_id": "A21ZK49H9LSSRY:3ATPCQ38JAD2J606TM4NVORXA2IAYE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.45946, 3.11554, -7.75556 ], "start_rotation": [ 0, 0.73802, 0, -0.67478 ], "object_category": "seating", "info": { "geodesic_distance": 14.00021, "euclidean_distance": 5.29377, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.74978, 3.11554, -6.79137 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "aa685f88bd7b46e89ef630e72c72903b", "path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "0_edge_16_newN_0", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_16_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A28HB7240OFGEW:3L4PIM1GQVJUINMNVXQ9QEG7A6PRYM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.06818, -0.68446, -21.35425 ], "start_rotation": [ 0, 0.82532, 0, -0.56466 ], "object_category": "seating", "info": { "geodesic_distance": 15.11254, "euclidean_distance": 13.93845, "closest_goal_object_id": 300, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.2318, 0.11554, -8.67623 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "f924e8567e4a4a31bd456348ad343f9b", "path": [ "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_469_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "bd0a6c4865d74589a65cedb040ffcf00", "0_edge_609_newN_1", "0_edge_466_newN_0", "173a50fdd7d14bbb9475f84357ecae45", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0" ], "instruction": "Go to the seating.", "instr_encoding": [ 101, 2175, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "f924e8567e4a4a31bd456348ad343f9b", "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", "2cd98eed9ae24dec8ca021e761455fc6", "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_609_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "173a50fdd7d14bbb9475f84357ecae45", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0" ], "refined_path": [ "f924e8567e4a4a31bd456348ad343f9b", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453", [ "d1081f33c992439a9d4ed420cddc5ff9" ], "0_edge_409_newN_0", "84fb90df9ca34c1da30776e93534bf3d", [ "0_edge_409_newN_0", "d1081f33c992439a9d4ed420cddc5ff9", "bf3aacc37c684ab4b66b732557d1c453" ], "52b3a84808ca4666982de6fbf6324acf", "0_edge_409_newN_1", [ "52b3a84808ca4666982de6fbf6324acf", "bf3aacc37c684ab4b66b732557d1c453", "d1081f33c992439a9d4ed420cddc5ff9", "f924e8567e4a4a31bd456348ad343f9b" ], "2cd98eed9ae24dec8ca021e761455fc6", "0_edge_46_newN_0", [ "2cd98eed9ae24dec8ca021e761455fc6" ], "eb4f9f3d0aa1436991b324f79196bca9", "519643de8cf8414db0d0191bab30f32d", "0_edge_46_newN_1", [ "519643de8cf8414db0d0191bab30f32d" ], "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", [ "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413" ], "0_edge_469_newN_1", [ "55ecd451adf344d88152d33d56d88413" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "bd0a6c4865d74589a65cedb040ffcf00", [ "09fa27f2739d4b849d2cf604a6319170" ], "0_edge_609_newN_1", [ "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "55ecd451adf344d88152d33d56d88413", "0_edge_469_newN_1", "55ecd451adf344d88152d33d56d88413", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "173a50fdd7d14bbb9475f84357ecae45", [ "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "bd0a6c4865d74589a65cedb040ffcf00", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0" ] }, { "episode_id": "A3T5UAYFKJBVTA:3H8DHMCCWBE5X8E19HUYCHKS0MUDK7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.89902, -3.08446, -5.41294 ], "start_rotation": [ 0, 0.68976, 0, 0.72404 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 1.98752, "euclidean_distance": 1.68484, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.95722, -3.08446, -6.76841 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "6f87bf60f1984f31a2af16a91f502ad9", "path": [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Find the equipment.", "instr_encoding": [ 101, 2424, 1996, 3941, 1012, 102 ], "original_path": [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3I7DHKZYGP3ZD97UT0LIYS4VCIV5FK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.83948, 3.11554, -5.93856 ], "start_rotation": [ 0, 0.00418, 0, -0.99999 ], "object_category": "seating", "info": { "geodesic_distance": 14.77843, "euclidean_distance": 8.8567, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.76379, 3.11554, -6.80218 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "00e65e341f5843d385964e17103e6ae3", "path": [ "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Navigate to the seating.", "instr_encoding": [ 101, 22149, 2000, 1996, 10747, 1012, 102 ], "original_path": [ "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3" ], "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", [ "fefbf5f40d364b0fb096d1d93aba4316" ], "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5" ], "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "A1R0689JPSQ3OF:3LRKMWOKB7KDJTF7CTDR3DH0QOFZ2O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.74717, -3.87096, -10.59428 ], "start_rotation": [ 0, 0.88253, 0, 0.47026 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 8.17918, "euclidean_distance": 6.27629, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.84959, -3.08446, -6.82695 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "d2e318aae7cb4c0198f72c97f7d2aedb", "path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "instruction": "Navigate to the equipment.", "instr_encoding": [ 101, 22149, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ], "refined_path": [ "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd" ] }, { "episode_id": "A31BA1WLSWUSY1:3M23Y66PO4A40ICU43VMXX1AKI6S6T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.40578, -4.00444, -19.96789 ], "start_rotation": [ 0, 0.61198, 0, -0.79088 ], "object_category": "toilet", "info": { "geodesic_distance": 17.19729, "euclidean_distance": 14.93374, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.83127, -3.08446, -5.52232 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "5d679afd01cb49259c38c0cb750319d2", "path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Find the toilet.", "instr_encoding": [ 101, 2424, 1996, 11848, 1012, 102 ], "original_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ] }, { "episode_id": "AKYXQY5IP7S0Z:34YB12FSQ0R3ZGOVWJ8MXFFT2JXMGN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.86711, -3.80586, -11.52062 ], "start_rotation": [ 0, 0.56053, 0, -0.82814 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 24.53639, "euclidean_distance": 12.94632, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.90208, -3.08446, -6.87037 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "instruction": "Locate the equipment.", "instr_encoding": [ 101, 12453, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654" ], "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "f40e599480664537833ee44fea373731" ] }, { "episode_id": "A2TUUIV61CR0C7:3570Y55XZRM3TXD9FMWXRA208WMGYL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -8.49763, 0.11554, -6.04178 ], "start_rotation": [ 0, 0.29642, 0, -0.95506 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 4.80862, "euclidean_distance": 4.25877, "closest_goal_object_id": 347, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.89232, 0.11554, -3.59214 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "cfb40a8a73414375a43798a7133d28c4", "path": [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ], "refined_path": [ "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0_edge_576_newN_0", "35538596d1564408a4d3ec39541feead" ] }, { "episode_id": "A1RQLE4ZMTU22A:3LWJHTCVCEPO6VQSDS9LW3ZLUJQFQ9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.71968, 3.11554, -6.13748 ], "start_rotation": [ 0, 0.94091, 0, 0.33867 ], "object_category": "shower", "info": { "geodesic_distance": 14.8875, "euclidean_distance": 3.40935, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.53564, 3.11554, -2.76228 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "2f782cbda7884257a49e9c7538e1d87b", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "c8ce61375bc8403691ec503de5401235", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", [ "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e" ], "2f782cbda7884257a49e9c7538e1d87b", [ "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0" ], "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", [ "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744" ], "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151" ], "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] }, { "episode_id": "AOMFEAWQHU3D8:3TDXMTX3CDXF649YZR18TVVNRX0I6T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.67898, 0.12928, -4.00295 ], "start_rotation": [ 0, 0.98477, 0, -0.17388 ], "object_category": "counter", "info": { "geodesic_distance": 2.6196, "euclidean_distance": 2.12556, "closest_goal_object_id": 289, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.06544, 0.11554, -5.64285 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "a0ed01562b764da7a7bc5f5670d9a463", "path": [ "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Go to the counter.", "instr_encoding": [ 101, 2175, 2000, 1996, 4675, 1012, 102 ], "original_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A19C2SO0IMRZ1L:3P4RDNWND79RUZO5JAVX2Z0SD39JIP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.76836, 0.13071, 5.93648 ], "start_rotation": [ 0, 0.49379, 0, 0.86958 ], "object_category": "counter", "info": { "geodesic_distance": 9.59037, "euclidean_distance": 5.69382, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.31745, 0.11554, 2.37478 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "19ae938a01884f31bb5b758b5a8feb83", "path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "refined_path": [ "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ] }, { "episode_id": "A75XDPFNICR3T:3ZGVPD4G6VK73S9KV8XN40QR7H9TZ6", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.91861, 0.11554, -8.83707 ], "start_rotation": [ 0, 0.89706, 0, 0.44191 ], "object_category": "plant", "info": { "geodesic_distance": 3.65269, "euclidean_distance": 3.4101, "closest_goal_object_id": 293, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.50205, 0.11554, -5.43831 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "0_edge_520_newN_0", "path": [ "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ], "refined_path": [ "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "889965f33b0e46938abc58b97fda5aef", "1a4cc7154b1a4e44b8b41f6f6bb7a235" ] }, { "episode_id": "A29CNQYJWMJ7G9:3IX2EGZR7DM4NYRO9XP6GR1JXLRJRX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.09627, -3.08446, -8.42616 ], "start_rotation": [ 0, 0.02937, 0, 0.99957 ], "object_category": "chair", "info": { "geodesic_distance": 16.3404, "euclidean_distance": 14.11779, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.53664, -3.94632, -21.65925 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1" ], "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "b634b67520bf4c579f044a8e433b021d", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AD1ILDUXZHASF:3ZY8KE4ISL6D2SCID7EPEP28W7EQVC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.76107, -0.68446, -16.14262 ], "start_rotation": [ 0, 0.98131, 0, 0.19243 ], "object_category": "sink", "info": { "geodesic_distance": 14.0733, "euclidean_distance": 10.89446, "closest_goal_object_id": 309, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.30652, 0.11554, -6.57387 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "8f6e247cade44925bd3406f4590e24ae", "path": [ "8f6e247cade44925bd3406f4590e24ae", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "8f6e247cade44925bd3406f4590e24ae", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "8f6e247cade44925bd3406f4590e24ae", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", [ "8f6e247cade44925bd3406f4590e24ae" ], "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "AZPZDX26SYMFY:32M8BPYGAVPH3XY4B4AU5M8CHWSGIK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.69831, 3.11554, -0.97503 ], "start_rotation": [ 0, 0.53926, 0, -0.84214 ], "object_category": "chair", "info": { "geodesic_distance": 2.07154, "euclidean_distance": 1.82756, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.90847, 3.11554, -1.57313 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "ea6f8b054a3b493482b183a6e92b9aa7", "path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "ea6f8b054a3b493482b183a6e92b9aa7", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", [ "a2131c9b8e674c3db73821fb924f1644" ], "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A29CNQYJWMJ7G9:3Q5C1WP23O48NUDMM16X9Q01BN8155", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.20548, -4.05347, -14.99921 ], "start_rotation": [ 0, 0.08389, 0, -0.99647 ], "object_category": "chair", "info": { "geodesic_distance": 11.03543, "euclidean_distance": 10.32096, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.53743, -4.08446, -21.71589 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Find the chair.", "instr_encoding": [ 101, 2424, 1996, 3242, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A2KOR4003SVNC5:3ND9UOO81M5FQKWABCBPJ5MSTZULW7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.48541, -3.08446, -6.20181 ], "start_rotation": [ 0, 0.35659, 0, 0.93426 ], "object_category": "picture", "info": { "geodesic_distance": 5.92754, "euclidean_distance": 5.44831, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.98731, -3.01552, -3.3185 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b634b67520bf4c579f044a8e433b021d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Find the picture.", "instr_encoding": [ 101, 2424, 1996, 3861, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", [ "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30" ], "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "A2DDPSXH2X96RF:3LEP4MGT3I3445A734H5DE11W3UBDX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.9503, -0.68446, -19.26873 ], "start_rotation": [ 0, 0.82801, 0, -0.56071 ], "object_category": "bed", "info": { "geodesic_distance": 22.50206, "euclidean_distance": 20.47801, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.83437, 0.11554, -2.66352 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Go to the bed.", "instr_encoding": [ 101, 2175, 2000, 1996, 2793, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ] }, { "episode_id": "A9K0CV70JWG1W:3GM6G9ZBKP074LA1GJ7TWYUIPG3TM4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.43763, 0.11554, -3.03935 ], "start_rotation": [ 0, 0.57039, 0, 0.82137 ], "object_category": "counter", "info": { "geodesic_distance": 6.14396, "euclidean_distance": 5.52354, "closest_goal_object_id": 292, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.87574, 0.11554, -6.04069 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "d837361a192a46f796fa084b58952201", "path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "0_edge_202_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ], "refined_path": [ "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311" ] }, { "episode_id": "A272X64FOZFYLB:37M28K1J0SGCOH577M3KL1C8JDNAJC", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.19263, -3.98465, -13.50184 ], "start_rotation": [ 0, 0.56314, 0, 0.82636 ], "object_category": "picture", "info": { "geodesic_distance": 23.08548, "euclidean_distance": 12.05507, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.98084, -2.98988, -3.207 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", [ "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AIOOOO5OXWXKM:3DYGAII7PNB0X8FMRV5Q8XDPWV0QPM", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -17.10356, -0.68446, -18.7363 ], "start_rotation": [ 0, 0.69359, 0, -0.72037 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 10.62808, "euclidean_distance": 9.48798, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.60687, -0.68446, -10.95571 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "165270ae7e7746c28500dd0fc3f84960", "path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "instruction": "Find the drawers.", "instr_encoding": [ 101, 2424, 1996, 22497, 1012, 102 ], "original_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ], "refined_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1" ] }, { "episode_id": "A3L8LSM7V7KX3T:3VE8AYVF8O0I0RQWRYSLACELYV1F8T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.96814, 3.11554, -6.76129 ], "start_rotation": [ 0, 0.1759, 0, -0.98441 ], "object_category": "picture", "info": { "geodesic_distance": 6.89628, "euclidean_distance": 5.15996, "closest_goal_object_id": 806, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -10.47843, 3.11554, -1.5459 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "17cfb9ce044443479e0a2a89925316a5", "path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ], "refined_path": [ "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75" ] }, { "episode_id": "A2TUUIV61CR0C7:3IHR8NYAM94T83SOTYYD5UCLHJTP4T", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.40111, 0.11554, 5.91824 ], "start_rotation": [ 0, 0.50564, 0, 0.86274 ], "object_category": "counter", "info": { "geodesic_distance": 13.0413, "euclidean_distance": 9.74546, "closest_goal_object_id": 697, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.33092, 0.11554, 2.24533 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "0_edge_560_newN_1", "path": [ "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "refined_path": [ "0_edge_560_newN_1", "0_edge_189_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_347_newN_1", [ "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76" ], "6993d4826f644c37b5632edde130ab67", "0_edge_191_newN_0", [ "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", [ "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ] }, { "episode_id": "A3FSDH6HUZPNQ8:3570Y55XZRM3TXD9FMWXRA208W6GY5", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.60465, 0.11554, -2.29872 ], "start_rotation": [ 0, 0.99409, 0, -0.10853 ], "object_category": "plant", "info": { "geodesic_distance": 6.19367, "euclidean_distance": 5.42213, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.53315, 0.11554, -0.68128 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "7a939072217043dfa0af4d1206ab3c86", "path": [ "7a939072217043dfa0af4d1206ab3c86", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "instruction": "Go to the plant.", "instr_encoding": [ 101, 2175, 2000, 1996, 3269, 1012, 102 ], "original_path": [ "7a939072217043dfa0af4d1206ab3c86", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "refined_path": [ "7a939072217043dfa0af4d1206ab3c86", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", [ "3229309326224f1b93f98c1ed36594da" ], "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1" ], "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb" ] }, { "episode_id": "AKYXQY5IP7S0Z:3W2LOLRXLDIZYIX6RIPIH61WFPIKRL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.83201, 3.11554, -2.15518 ], "start_rotation": [ 0, 0.11689, 0, 0.99314 ], "object_category": "towel", "info": { "geodesic_distance": 15.15276, "euclidean_distance": 13.51364, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.28291, 3.11554, -7.47452 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "dec940911e0a44e7b51b8fa218fb3550", "path": [ "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "00e65e341f5843d385964e17103e6ae3", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Find the towel.", "instr_encoding": [ 101, 2424, 1996, 10257, 1012, 102 ], "original_path": [ "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550" ], "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710" ], "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", [ "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ] ] }, { "episode_id": "A2TUUIV61CR0C7:3SB4CE2TJXYDJ1AWOQILCAKO8OZAX3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.09631, -0.68446, -17.47756 ], "start_rotation": [ 0, 0.39393, 0, 0.91914 ], "object_category": "shower", "info": { "geodesic_distance": 27.79563, "euclidean_distance": 24.27002, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.82722, 0.11554, 3.87747 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_202_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "b0e31a5d1f254167a442608bb1b1eadc", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "d1174dbd13454385b8a23cb15725b9a0" ], "0_edge_565_newN_2", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3S96KQ6I9O740R4O3Q8QD87OG3GDTD", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.23671, 3.11554, -7.4678 ], "start_rotation": [ 0, 0.20881, 0, 0.97796 ], "object_category": "stool", "info": { "geodesic_distance": 5.81228, "euclidean_distance": 5.4, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.00846, 3.11554, -2.32434 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "95c9fb86dcb14fcabab35769b14beb1e", "path": [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "95c9fb86dcb14fcabab35769b14beb1e", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "5ebe5e4ed7384814bde7bdf5aad27e8f", "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", [ "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", [ "6dbb762da390463f83fc26b02e723259", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e" ], "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "0_edge_130_newN_0", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", "3014b8cf45664302bb24e76ba6aec69b", "74b4a5ebdda245d3b9d2c39696ee2e42", [ "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "ef98e16224ae4151a0f5e69ec03916f7", "0_edge_313_newN_0", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "0_edge_289_newN_0", [ "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3" ], "e056e877de1f47c9a08bb295c285f51a", "0_edge_351_newN_0", "0_edge_351_newN_1", [ "74b4a5ebdda245d3b9d2c39696ee2e42", "3014b8cf45664302bb24e76ba6aec69b", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", [ "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", [ "8646134295d2446ba7e27db2fd6da710" ], "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550" ], "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "A1R0689JPSQ3OF:32UTUBMZ7IZQYMATUPHZJ078WJNVBN", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.87013, -0.68446, -18.37924 ], "start_rotation": [ 0, 0.60298, 0, 0.79776 ], "object_category": "chest_of_drawers", "info": { "geodesic_distance": 8.11368, "euclidean_distance": 7.71568, "closest_goal_object_id": 211, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.49853, -0.68446, -10.99683 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chest_of_drawers", "start_potision_viewpoint_id": "519643de8cf8414db0d0191bab30f32d", "path": [ "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "0_edge_202_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Go to the drawers.", "instr_encoding": [ 101, 2175, 2000, 1996, 22497, 1012, 102 ], "original_path": [ "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "refined_path": [ "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "173a50fdd7d14bbb9475f84357ecae45", "a406b9208ade4d0d859368e1ec14564f", "0_edge_466_newN_0", [ "a406b9208ade4d0d859368e1ec14564f" ], "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_333_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_585_newN_0", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", [ "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ] }, { "episode_id": "AQ0YWEW29GSIJ:3EO896NRAYYH3D4GDMU1G621LFWTJA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.71313, -0.41741, 8.64312 ], "start_rotation": [ 0, 0.3337, 0, 0.94268 ], "object_category": "shower", "info": { "geodesic_distance": 17.59738, "euclidean_distance": 12.62643, "closest_goal_object_id": 594, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.49487, 0.11554, -0.45494 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "701293ca052c452c8454a11cf5f140f5", "path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Navigate to the shower.", "instr_encoding": [ 101, 22149, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "701293ca052c452c8454a11cf5f140f5", "d6316b40b9c8413386ef184e5a5382ab", "19ae938a01884f31bb5b758b5a8feb83", "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", "6993d4826f644c37b5632edde130ab67", [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0" ], "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A29CNQYJWMJ7G9:3EO896NRAYYH3D4GDMU1G6207RSJT4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.49161, -3.74167, -14.34466 ], "start_rotation": [ 0, 0.58231, 0, -0.81296 ], "object_category": "chair", "info": { "geodesic_distance": 8.18381, "euclidean_distance": 7.47037, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.56026, -3.92632, -21.77958 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", [ "280d28cd4c80476384046234022051f9" ], "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "A2Q6L9LKSNU7EB:3LEP4MGT3I3445A734H5DE12XF7DB3", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -4.29327, 0.11554, -2.47167 ], "start_rotation": [ 0, 0.88852, 0, -0.45883 ], "object_category": "plant", "info": { "geodesic_distance": 2.20336, "euclidean_distance": 2.0808, "closest_goal_object_id": 634, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.24447, 0.11554, -1.57738 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "2ba3d353cffb46eda191ea81569608f7", "path": [ "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb" ], "refined_path": [ "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", [ "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7" ], "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb" ] }, { "episode_id": "A16K7X677N4WN6:3IAEQB9FMGNWS88IYVD10SENNTPWD8", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -19.63167, 3.11554, -2.99317 ], "start_rotation": [ 0, 0.97555, 0, 0.21976 ], "object_category": "counter", "info": { "geodesic_distance": 10.42111, "euclidean_distance": 6.39945, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.3049, 3.11554, -6.7053 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "36f960692401420f90d5448db9e22615", "path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "eb3774d7d7c9470ca3ef2727c4cb58a7", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1" ], "instruction": "Locate the counter.", "instr_encoding": [ 101, 12453, 1996, 4675, 1012, 102 ], "original_path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "9c4bd27f6372466f904b6ce78045857d" ], "0_edge_282_newN_0", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "bad314d5f38844a3bd94e5e1ec557446", "000d2cac6cfd4f07b56d159ef5658a08", "e62bb5ca23724c1aa78e6f3667d8e3f3", "a0ed01562b764da7a7bc5f5670d9a463", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A2O65E9TOSX7GV:33L7PJKHCI1SJW8XMIXARGTN5BA8TR", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.2318, 0.11554, -5.67167 ], "start_rotation": [ 0, 0.96765, 0, 0.25231 ], "object_category": "stool", "info": { "geodesic_distance": 4.66558, "euclidean_distance": 3.93218, "closest_goal_object_id": 299, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.10058, 0.11554, -8.43903 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "8b5fb14f2f854a4ea7f05d76adf7a9d9", "path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "0_edge_340_newN_0", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", "701006439c3f44239c348b0b92833ca3", "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", "09fa27f2739d4b849d2cf604a6319170", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_340_newN_0", "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ], "refined_path": [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "d1174dbd13454385b8a23cb15725b9a0", "f873b983498b4e18bb5acfade836f2cf", "701006439c3f44239c348b0b92833ca3", "0_edge_356_newN_0", [ "701006439c3f44239c348b0b92833ca3" ], "0_edge_244_newN_0", "09fa27f2739d4b849d2cf604a6319170", "0_edge_467_newN_1", [ "09fa27f2739d4b849d2cf604a6319170" ], "ae8b8fd21d474f7a9a429fe6c86b514e", "0_edge_585_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_340_newN_0", [ "ae8b8fd21d474f7a9a429fe6c86b514e" ], "0_edge_333_newN_0", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "a406b9208ade4d0d859368e1ec14564f" ] }, { "episode_id": "A1C8FN01981A69:3KAKFY4PGW5G9LMGGP3AMSJ3H51I3O", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.76542, 3.11554, -6.00677 ], "start_rotation": [ 0, 0.45148, 0, 0.89228 ], "object_category": "plant", "info": { "geodesic_distance": 3.35107, "euclidean_distance": 2.5353, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.24554, 3.11554, -6.12952 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "54507d559ab2427982e8021989d48e50" ], "instruction": "Find the plant.", "instr_encoding": [ 101, 2424, 1996, 3269, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", [ "e8f67d7392804d5e9284c74c2a5d926b" ], "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A75XDPFNICR3T:3YJ6NA41JDJJBLB9W5LHBW14WD8JPU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.04956, 0.11554, 1.78815 ], "start_rotation": [ 0, 0.98831, 0, 0.15248 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.44929, "euclidean_distance": 5.86123, "closest_goal_object_id": 539, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -13.62507, 0.11554, -3.00373 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "add7a68256564d1b85b560fb614beedd", "path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "90ffb16e607e495b9c230de85201dac7", "0_edge_202_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0bee565558544262b0368f2a92702677", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "0_edge_153_newN_1" ], "instruction": "Go to the cabinet.", "instr_encoding": [ 101, 2175, 2000, 1996, 5239, 1012, 102 ], "original_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "0bee565558544262b0368f2a92702677", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821" ], "refined_path": [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "90ffb16e607e495b9c230de85201dac7", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", [ "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b" ], "0bee565558544262b0368f2a92702677", [ "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", [ "5fc192b8dd7b496db4925aaa16f60821" ], "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ] ] }, { "episode_id": "A272X64FOZFYLB:3SB5N7Y3O576W2HO7ELOZI8FIVF0GK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -14.08051, -3.08446, -7.40004 ], "start_rotation": [ 0, 0.93942, 0, -0.34277 ], "object_category": "table", "info": { "geodesic_distance": 5.92795, "euclidean_distance": 3.36124, "closest_goal_object_id": 105, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.46177, -2.88446, -4.32031 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "09065b7df3804647b838b3decc672389", "path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Navigate to the table.", "instr_encoding": [ 101, 22149, 2000, 1996, 2795, 1012, 102 ], "original_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", [ "b3fb49d922374aaf81242f21d39d214d" ], "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "A2TUUIV61CR0C7:37Z929RLGBBA2GN60G3F87TN151TSE", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -13.77814, 3.11554, -3.11031 ], "start_rotation": [ 0, 0.37489, 0, -0.92707 ], "object_category": "counter", "info": { "geodesic_distance": 4.38198, "euclidean_distance": 3.56324, "closest_goal_object_id": 729, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.46304, 3.11554, -6.65679 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_counter", "start_potision_viewpoint_id": "6bd6fde111574af289492ba17859be83", "path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "6f73ed74234145baac0b9b2854a95610" ], "instruction": "Find the counter.", "instr_encoding": [ 101, 2424, 1996, 4675, 1012, 102 ], "original_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610" ], "refined_path": [ "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610" ] }, { "episode_id": "A2DWSKGD9RNKMJ:3ZGVPD4G6VK73S9KV8XN40QR7IKZTP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.65757, 0.11554, -8.87767 ], "start_rotation": [ 0, 0.67319, 0, -0.73947 ], "object_category": "towel", "info": { "geodesic_distance": 20.03523, "euclidean_distance": 13.74708, "closest_goal_object_id": 607, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.47159, 0.11554, -0.41242 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "eaa924cd93794010a866d09389edd172", "path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "0_edge_509_newN_1", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "instruction": "Go to the towel.", "instr_encoding": [ 101, 2175, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", "7d5c9da3f8374e479e2139bb508b38c1", "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ], "refined_path": [ "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", [ "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "3389b852c9c84bbeb9855d46d3637a1d" ], "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "24dbd843e0fe400baa0228c00158bb29", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", [ "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "7a381be117474e159e339b7bcce0baf3", [ "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b" ], "a0ed01562b764da7a7bc5f5670d9a463", "e62bb5ca23724c1aa78e6f3667d8e3f3", "000d2cac6cfd4f07b56d159ef5658a08", "bad314d5f38844a3bd94e5e1ec557446", "7d5c9da3f8374e479e2139bb508b38c1", "f115d708bfd944c7a6bff880581d79f7", [ "7d5c9da3f8374e479e2139bb508b38c1" ], "0_edge_282_newN_0", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "cf0febb3e6eb495daa0ef1ba776548ac", "42bfe0c4e181472f8439b68667c23e45", [ "cf0febb3e6eb495daa0ef1ba776548ac", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "6f73ed74234145baac0b9b2854a95610", "5ebe5e4ed7384814bde7bdf5aad27e8f", "53652351502d4b5dba01ad8f23be3443" ] }, { "episode_id": "A101U3FTZYY87V:3COPXFW7XDFEM5HREQLTCB1HYSFPK9", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.85678, 3.11554, -4.4353 ], "start_rotation": [ 0, 0.57064, 0, -0.8212 ], "object_category": "seating", "info": { "geodesic_distance": 3.13735, "euclidean_distance": 2.33047, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.82606, 3.11554, -6.83134 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "0_edge_439_newN_0", "path": [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "673c93ec5cfd45efb87f064bd4723f8d", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "0_edge_148_newN_0", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "instruction": "Find the seating.", "instr_encoding": [ 101, 2424, 1996, 10747, 1012, 102 ], "original_path": [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ], "refined_path": [ "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f" ], "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", [ "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5" ] }, { "episode_id": "AOG0PUCLMU0HH:3SB5N7Y3O576W2HO7ELOZI8GZCJG0L", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -9.44801, -0.68446, -19.02818 ], "start_rotation": [ 0, 0.19772, 0, 0.98026 ], "object_category": "bed", "info": { "geodesic_distance": 19.13313, "euclidean_distance": 17.57586, "closest_goal_object_id": 345, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -2.99597, 0.11554, -2.68938 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "0_edge_373_newN_0", "path": [ "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "instruction": "Find the bed.", "instr_encoding": [ 101, 2424, 1996, 2793, 1012, 102 ], "original_path": [ "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ], "refined_path": [ "0_edge_373_newN_0", "ae452693af47490ea50fd1057b04337d", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb", "d218377018e14219a034d3bcf992d9a1", "e91fd405eae74dcb93ab7036937b1c60", "0_edge_152_newN_0", "5fc192b8dd7b496db4925aaa16f60821", "8c874344710140e681d78c046d471afc", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "0_edge_57_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0" ] }, { "episode_id": "A2TUUIV61CR0C7:3FUI0JHJPZ11JI4XVMWNIMHDHYV333", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -5.83383, 0.11554, 7.44304 ], "start_rotation": [ 0, 0.9982, 0, -0.05993 ], "object_category": "shower", "info": { "geodesic_distance": 18.64209, "euclidean_distance": 4.05261, "closest_goal_object_id": 401, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.78564, 0.11554, 3.88057 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_447_newN_1", "path": [ "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "0_edge_202_newN_0", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "24dbd843e0fe400baa0228c00158bb29" ], "instruction": "Find the shower.", "instr_encoding": [ 101, 2424, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7", "24dbd843e0fe400baa0228c00158bb29", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ], "refined_path": [ "0_edge_447_newN_1", "9a65ec8ec80d41a492cf617c83b15ec6", "0_edge_446_newN_1", [ "9a65ec8ec80d41a492cf617c83b15ec6" ], "0_edge_446_newN_2", "f5933619d2914bdca7a58a004ec7c3df", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "ee987ba0e8ee44c1a95ff0f958f31791", "5713992a192a40a1a32c11a12873791d", "34276b7c9d6e491885f36dd1d286e477", "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "0_edge_202_newN_0", [ "42ea9388a1f74f0c84105ba33fab13dd", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d" ], "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "7c41f500f2ce4b7a9916e292221a7740", "3229309326224f1b93f98c1ed36594da", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_152_newN_0", "e91fd405eae74dcb93ab7036937b1c60", "d218377018e14219a034d3bcf992d9a1", "cadc13ee1b3e4b04b720062aa5f765fb", "eaa924cd93794010a866d09389edd172", "3d6cd6d157704b8abe96332301d16436", "0_edge_355_newN_0", [ "3d6cd6d157704b8abe96332301d16436" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c", "4ad4f9b025b441aab57a1eba3bd1c2c4", "b20afa1056624aaca536b2bc6af05de8", [ "4ad4f9b025b441aab57a1eba3bd1c2c4", "23deb5b68d61426cb0cce5578e05cc8c", "0405db8320e24c3abb2f1e7c3ce52810", "2fb14459ed8d496fae1ea1683a23493b", "2ba3d353cffb46eda191ea81569608f7" ], "24dbd843e0fe400baa0228c00158bb29", [ "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "f5933619d2914bdca7a58a004ec7c3df", "0_edge_446_newN_2", "9a65ec8ec80d41a492cf617c83b15ec6" ] ] }, { "episode_id": "AMYURTQIMAC8T:3GDTJDAPVWEO61IDDLWY52YVBAK8MA", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.54943, 3.11554, -4.38688 ], "start_rotation": [ 0, 0.83602, 0, -0.5487 ], "object_category": "towel", "info": { "geodesic_distance": 11.79033, "euclidean_distance": 8.3011, "closest_goal_object_id": 743, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.24153, 3.11554, -7.46749 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_towel", "start_potision_viewpoint_id": "86f4a6bece3b4edc8e71cc0d03cef2ca", "path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "5e83ef2965d445d18d539afdda8b88e5", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "instruction": "Navigate to the towel.", "instr_encoding": [ 101, 22149, 2000, 1996, 10257, 1012, 102 ], "original_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710", "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ], "refined_path": [ "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "37376bc376de4a1bbff1e45f6f420d0f", "673c93ec5cfd45efb87f064bd4723f8d", [ "37376bc376de4a1bbff1e45f6f420d0f" ], "5e83ef2965d445d18d539afdda8b88e5", [ "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316" ], "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0", "137543cd90ed4a90a10b244b14014cf0", [ "a0b14b141fcd42ac8c56f66ede5be8b0", "8646134295d2446ba7e27db2fd6da710" ], "00e65e341f5843d385964e17103e6ae3", "d828865aa4df444da9c7c051b87f1272", "ba9624a97ad74614968e00edc698f4c7", [ "d828865aa4df444da9c7c051b87f1272", "00e65e341f5843d385964e17103e6ae3", "8646134295d2446ba7e27db2fd6da710", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca" ], "23d3a1b1dc134acc8ffa787e2ee558ed", "aa685f88bd7b46e89ef630e72c72903b", [ "23d3a1b1dc134acc8ffa787e2ee558ed", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "9c4bd27f6372466f904b6ce78045857d", "0_edge_439_newN_1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7", [ "36f960692401420f90d5448db9e22615", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07" ] }, { "episode_id": "A3L8LSM7V7KX3T:3QECW5O0KJ49WEPVOKQ7FWJVPX45TP", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.59038, 3.11554, -2.69571 ], "start_rotation": [ 0, 0.73181, 0, -0.6815 ], "object_category": "cabinet", "info": { "geodesic_distance": 3.48124, "euclidean_distance": 3.2566, "closest_goal_object_id": 873, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -4.62869, 3.11554, -5.24146 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "0_edge_16_newN_0", "path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0" ], "instruction": "Find the cabinet.", "instr_encoding": [ 101, 2424, 1996, 5239, 1012, 102 ], "original_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0" ], "refined_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "8646134295d2446ba7e27db2fd6da710", "a0b14b141fcd42ac8c56f66ede5be8b0" ] }, { "episode_id": "A1NLDZ3T0S2CX:3QXNC7EIPKYRHSUGT8FE71MTSC309G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.16527, 0.11554, 4.17072 ], "start_rotation": [ 0, 0.58344, 0, -0.81215 ], "object_category": "bathtub", "info": { "geodesic_distance": 12.82399, "euclidean_distance": 9.59802, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.3708, 0.11554, -0.94949 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "b1e41a74f03a4ceeabd6a6da3dc557b2", "path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "e22e126c54a04ee091d6b18c6cb12440", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Go to the bathtub.", "instr_encoding": [ 101, 2175, 2000, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c", "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "b1e41a74f03a4ceeabd6a6da3dc557b2", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", [ "5713992a192a40a1a32c11a12873791d" ], "ee987ba0e8ee44c1a95ff0f958f31791", "0_edge_476_newN_0", [ "ee987ba0e8ee44c1a95ff0f958f31791" ], "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "bfb78765ec3e4eb7aebdea9e7c2bf047", [ "c662afaab01a4c338d739c7600478db2", "b86db2322dcf44538d16e38cc789df6c" ], "e22e126c54a04ee091d6b18c6cb12440", [ "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A23LXQ5ZX2YONR:3ATPCQ38JAD2J606TM4NVORXA21AYX", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.54247, 3.11554, -4.18162 ], "start_rotation": [ 0, 0.14656, 0, 0.9892 ], "object_category": "plant", "info": { "geodesic_distance": 10.66509, "euclidean_distance": 2.43581, "closest_goal_object_id": 725, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.97671, 3.11554, -6.21534 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_plant", "start_potision_viewpoint_id": "a0a8cd07457a4376a550ac35104fed9d", "path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "54507d559ab2427982e8021989d48e50" ], "instruction": "Locate the plant.", "instr_encoding": [ 101, 12453, 1996, 3269, 1012, 102 ], "original_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "54507d559ab2427982e8021989d48e50" ], "refined_path": [ "a0a8cd07457a4376a550ac35104fed9d", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "0_edge_439_newN_1", "9c4bd27f6372466f904b6ce78045857d", "cd289dfb2a4d4161ab18c8b0e7889f0d", [ "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1" ], "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "95c9fb86dcb14fcabab35769b14beb1e", "2f782cbda7884257a49e9c7538e1d87b", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "9aab8934d33545f8a0559acbe1a69da3", "86d651b81a7c41c4a78b902b43fac9d0", [ "9aab8934d33545f8a0559acbe1a69da3", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "54507d559ab2427982e8021989d48e50" ] }, { "episode_id": "A2TUUIV61CR0C7:3NKQQ8O3908J04JD3VY0I4TQM1IUD7", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.38821, 0.11554, 6.13504 ], "start_rotation": [ 0, 0.25957, 0, -0.96572 ], "object_category": "bathtub", "info": { "geodesic_distance": 9.33635, "euclidean_distance": 8.05126, "closest_goal_object_id": 601, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -20.17134, 0.11554, -0.95123 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bathtub", "start_potision_viewpoint_id": "0_edge_560_newN_1", "path": [ "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "0_edge_189_newN_0", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "instruction": "Locate the bathtub.", "instr_encoding": [ 101, 12453, 1996, 7198, 28251, 1012, 102 ], "original_path": [ "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_189_newN_0", "6993d4826f644c37b5632edde130ab67", "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "310ded38502647188e97b980b77c2472", "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235", "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", "eda4b648d33d436aa09516400af0de9b", "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", "5fc192b8dd7b496db4925aaa16f60821", "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ], "refined_path": [ "0_edge_560_newN_1", "104c429382034f88a37f95c5888e3557", "0_edge_191_newN_0", "6993d4826f644c37b5632edde130ab67", "13c30ac9dae6410fa1da3247fba2af76", "0_edge_347_newN_0", [ "13c30ac9dae6410fa1da3247fba2af76" ], "0_edge_189_newN_0", [ "6993d4826f644c37b5632edde130ab67" ], "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", [ "310ded38502647188e97b980b77c2472" ], "7a42af4caa814affbce3c5325c0eb181", "42ea9388a1f74f0c84105ba33fab13dd", "5713992a192a40a1a32c11a12873791d", "c8ce61375bc8403691ec503de5401235", "29e0e9dd21db4b78bdea0ca885f8a744", "0_edge_476_newN_1", [ "29e0e9dd21db4b78bdea0ca885f8a744", "c8ce61375bc8403691ec503de5401235" ], "0_edge_57_newN_0", "eda4b648d33d436aa09516400af0de9b", "3229309326224f1b93f98c1ed36594da", "7c41f500f2ce4b7a9916e292221a7740", [ "eda4b648d33d436aa09516400af0de9b" ], "8c874344710140e681d78c046d471afc", "5fc192b8dd7b496db4925aaa16f60821", "0_edge_153_newN_1", [ "5fc192b8dd7b496db4925aaa16f60821" ], "1495db5760cf415299116892de94695a", "cfb40a8a73414375a43798a7133d28c4", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810", "23deb5b68d61426cb0cce5578e05cc8c" ] }, { "episode_id": "A1BZNPQ0H7ZSER:3OUYGIZWR91C9FANAXBBTRM808XP0Z", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.70637, 0.11554, -1.10917 ], "start_rotation": [ 0, 0.44934, 0, 0.89336 ], "object_category": "sink", "info": { "geodesic_distance": 5.33521, "euclidean_distance": 4.5621, "closest_goal_object_id": 554, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -15.48847, 0.11554, -3.72237 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "c8ce61375bc8403691ec503de5401235", "path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", "badffebebfcf4e7cb8883d6a0f8fa25d" ], "refined_path": [ "c8ce61375bc8403691ec503de5401235", "5713992a192a40a1a32c11a12873791d", "42ea9388a1f74f0c84105ba33fab13dd", "0_edge_202_newN_0", "310ded38502647188e97b980b77c2472", "0_edge_568_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_190_newN_1", [ "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "fabe4fae36f74d6d8ae8d64cb5ca9b4e", "769866f82e6b4388b8b63023532685e0", "0_edge_245_newN_1", "badffebebfcf4e7cb8883d6a0f8fa25d", "3bb211c9aabb496c8c5474f242e71a4f", [ "badffebebfcf4e7cb8883d6a0f8fa25d" ] ] }, { "episode_id": "A1ZE52NWZPN85P:388U7OUMF94XLSQ2NPF0YMMMIMBR0Q", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.95895, -3.95829, -17.08179 ], "start_rotation": [ 0, 0.98826, 0, -0.15275 ], "object_category": "picture", "info": { "geodesic_distance": 15.49885, "euclidean_distance": 13.87704, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -12.0597, -3.01278, -3.35739 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "74230db02c1748bb89b3ada696cb5deb", "path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "b3fb49d922374aaf81242f21d39d214d", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] }, { "episode_id": "AKYXQY5IP7S0Z:3CCZ6YKWR9MQCZGHQELQOWIK9FE950", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -2.03499, 3.11554, -3.12579 ], "start_rotation": [ 0, 0.24074, 0, 0.97059 ], "object_category": "stool", "info": { "geodesic_distance": 14.76312, "euclidean_distance": 12.88944, "closest_goal_object_id": 789, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.95451, 3.11554, -2.40977 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "0_edge_16_newN_0", "path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "instruction": "Locate the stool.", "instr_encoding": [ 101, 12453, 1996, 14708, 1012, 102 ], "original_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "refined_path": [ "0_edge_16_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee" ], "31eced24029c4dacad2bba2b1a2b7af9", [ "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9" ], "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "6bd6fde111574af289492ba17859be83", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ] }, { "episode_id": "AD1ILDUXZHASF:33M4IA01QI45IIWDQ147709YBSCRXK", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -12.69452, 0.11554, 3.41165 ], "start_rotation": [ 0, 0.15197, 0, 0.98839 ], "object_category": "bed", "info": { "geodesic_distance": 11.40749, "euclidean_distance": 8.03819, "closest_goal_object_id": 573, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -18.93651, 0.11554, -1.46274 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_bed", "start_potision_viewpoint_id": "90ffb16e607e495b9c230de85201dac7", "path": [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201" ], "instruction": "Locate the bed.", "instr_encoding": [ 101, 12453, 1996, 2793, 1012, 102 ], "original_path": [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477", "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", "0_edge_63_newN_0" ], "refined_path": [ "90ffb16e607e495b9c230de85201dac7", "310ded38502647188e97b980b77c2472", "0_edge_202_newN_0", "42ea9388a1f74f0c84105ba33fab13dd", "34276b7c9d6e491885f36dd1d286e477", "add7a68256564d1b85b560fb614beedd", "b0a3ea6e7efb429eab0d0ede3174f906", [ "add7a68256564d1b85b560fb614beedd", "34276b7c9d6e491885f36dd1d286e477" ], "5713992a192a40a1a32c11a12873791d", "ee987ba0e8ee44c1a95ff0f958f31791", "9bd6013e7ccd46c28789c54605a56151", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", [ "9bd6013e7ccd46c28789c54605a56151" ], "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "0_edge_63_newN_0", "d837361a192a46f796fa084b58952201", [ "0_edge_63_newN_0" ] ] }, { "episode_id": "A3F0NFNLOLFJT0:3GDTJDAPVWEO61IDDLWY52YUXFAM88", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.14754, -4.04505, -15.37208 ], "start_rotation": [ 0, 0.35276, 0, 0.93571 ], "object_category": "table", "info": { "geodesic_distance": 19.13039, "euclidean_distance": 12.64886, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.30678, -3.08446, -6.37683 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "582a46d4780b498a9b04d0f64f806f4b", "path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "7afcf1ae63e842e6900e23f8bdaeea3a", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", [ "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b" ], "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb" ], "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "A1J3ON3YLGJAM6:3CTOC39K39TU5F790JR0BAAJZMYJ7S", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.364, 0.11554, 3.53068 ], "start_rotation": [ 0, 0.66136, 0, -0.75007 ], "object_category": "stool", "info": { "geodesic_distance": 11.06182, "euclidean_distance": 7.56449, "closest_goal_object_id": 500, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -14.85874, 0.11554, 3.64709 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_stool", "start_potision_viewpoint_id": "e22e126c54a04ee091d6b18c6cb12440", "path": [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_521_newN_0", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "0_edge_520_newN_0", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb" ], "instruction": "Go to the stool.", "instr_encoding": [ 101, 2175, 2000, 1996, 14708, 1012, 102 ], "original_path": [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1", "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb" ], "refined_path": [ "e22e126c54a04ee091d6b18c6cb12440", "b86db2322dcf44538d16e38cc789df6c", "c662afaab01a4c338d739c7600478db2", "9bd6013e7ccd46c28789c54605a56151", "dfb6d728749e4dbb9116902a8f2dd6eb", "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", [ "2ba3d353cffb46eda191ea81569608f7", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "0_edge_565_newN_2", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9", "20352d61b4c14e2ab410046ab72d0849", "0_edge_355_newN_1" ], "0_edge_355_newN_0", "3d6cd6d157704b8abe96332301d16436", "eaa924cd93794010a866d09389edd172", "cadc13ee1b3e4b04b720062aa5f765fb" ] }, { "episode_id": "AIOOOO5OXWXKM:3X08E93BHXLZDKEXXQSJWS5H1DS665", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.28262, 3.11554, -2.58114 ], "start_rotation": [ 0, 0.3604, 0, -0.9328 ], "object_category": "chair", "info": { "geodesic_distance": 7.76378, "euclidean_distance": 6.40413, "closest_goal_object_id": 794, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.00902, 3.11554, -1.55367 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "ba3d3163aa4a4211a0bda0b7adf07b60", "path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "instruction": "Navigate to the chair.", "instr_encoding": [ 101, 22149, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ], "refined_path": [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0" ], "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", [ "7bcfa9163bbc47e489988d011b395a35" ], "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60" ], "dcbc89b871b54cdd98d8b59b700d44a3", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "6bd6fde111574af289492ba17859be83", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9" ] }, { "episode_id": "A3HL2LL0LEPZT8:3Z4GS9HPNXD1LK67ZA238K5A8OA77F", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -10.3989, -3.73559, -14.53998 ], "start_rotation": [ 0, 0.00825, 0, -0.99997 ], "object_category": "table", "info": { "geodesic_distance": 10.48274, "euclidean_distance": 8.79748, "closest_goal_object_id": 191, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.41451, -3.08446, -6.34709 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_table", "start_potision_viewpoint_id": "280d28cd4c80476384046234022051f9", "path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0" ], "instruction": "Locate the table.", "instr_encoding": [ 101, 12453, 1996, 2795, 1012, 102 ], "original_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "refined_path": [ "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9" ], "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ] ] }, { "episode_id": "AZPZDX26SYMFY:3L2IS5HSFCLSMGAQSPC3E95KDFMUNO", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -15.9471, -0.68446, -18.91113 ], "start_rotation": [ 0, 0.83208, 0, 0.55465 ], "object_category": "picture", "info": { "geodesic_distance": 9.41603, "euclidean_distance": 8.66742, "closest_goal_object_id": 235, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.60671, -0.68446, -11.57035 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "b0e31a5d1f254167a442608bb1b1eadc", "path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "5a63b57ef203489e9536ab9c3694f3e6" ], "instruction": "Go to the picture.", "instr_encoding": [ 101, 2175, 2000, 1996, 3861, 1012, 102 ], "original_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", "ca485cbdb9c247a0b7b964a0589c4311", "5a63b57ef203489e9536ab9c3694f3e6" ], "refined_path": [ "165270ae7e7746c28500dd0fc3f84960", "b0e31a5d1f254167a442608bb1b1eadc", "519643de8cf8414db0d0191bab30f32d", "8d3e229a4b574c5d9cb86d2099f49d86", "7d91f15f7b2d4c18b45ece193eabb9a3", "8f6e247cade44925bd3406f4590e24ae", "5ef3c89e80bd44288091527d30458d16", "a406b9208ade4d0d859368e1ec14564f", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c", [ "0_edge_334_newN_1", "0_edge_333_newN_1", "55ecd451adf344d88152d33d56d88413", "0_edge_333_newN_1", "0_edge_334_newN_1", "f7d0095f6ae347d7b4d6f1b653005f4c" ], "f873b983498b4e18bb5acfade836f2cf", "d1174dbd13454385b8a23cb15725b9a0", "0_edge_355_newN_1", "20352d61b4c14e2ab410046ab72d0849", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "0_edge_520_newN_0", [ "8b5fb14f2f854a4ea7f05d76adf7a9d9" ], "ca485cbdb9c247a0b7b964a0589c4311", "0_edge_521_newN_0", [ "ca485cbdb9c247a0b7b964a0589c4311" ], "5a63b57ef203489e9536ab9c3694f3e6" ] }, { "episode_id": "A29CNQYJWMJ7G9:3Z7ISHFUH2YO58HWSAMSD4U4Q2OZ8G", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.50608, -4.06813, -15.27177 ], "start_rotation": [ 0, 0.98743, 0, -0.15806 ], "object_category": "picture", "info": { "geodesic_distance": 22.72995, "euclidean_distance": 13.74399, "closest_goal_object_id": 127, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.99951, -3.01771, -3.35758 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_picture", "start_potision_viewpoint_id": "bcc22ed579534ff590d554211dea0ee1", "path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1", "38808050304946dfb262966b02c6ae4e", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "0_edge_500_newN_0", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "10_edge_552_newN_0", "0_edge_88_newN_1", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "0f0c966446e24bdc958349d0d9c3e09e" ], "instruction": "Locate the picture.", "instr_encoding": [ 101, 12453, 1996, 3861, 1012, 102 ], "original_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", "4d53b2df82b3494a80822eba94c31f2f", "0_edge_500_newN_0", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "10_edge_552_newN_0", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "0f0c966446e24bdc958349d0d9c3e09e", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ], "refined_path": [ "bcc22ed579534ff590d554211dea0ee1", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1", [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", [ "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4", [ "4d53b2df82b3494a80822eba94c31f2f" ], "0_edge_500_newN_0", [ "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813" ], "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", [ "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d" ], "10_edge_552_newN_0", [ "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0" ], "0_edge_88_newN_1", [ "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", [ "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad" ], "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", [ "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "aa00867860b84d36aa756d2dd29fbf5e", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1" ], "b3fb49d922374aaf81242f21d39d214d", "09065b7df3804647b838b3decc672389", [ "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5" ], "0f0c966446e24bdc958349d0d9c3e09e", [ "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "4d53b2df82b3494a80822eba94c31f2f", "6c8219cd4bf549b8a0bf58ba7b0f61e4" ] ] }, { "episode_id": "A3T5UAYFKJBVTA:33FOTY3KEOOTMFM11BT5NW6B3PD1C2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.60258, 3.11554, -0.78772 ], "start_rotation": [ 0, 0.75458, 0, 0.65621 ], "object_category": "sink", "info": { "geodesic_distance": 3.25533, "euclidean_distance": 3.00741, "closest_goal_object_id": 754, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.93756, 3.11554, -3.84205 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "0_edge_220_newN_1", "path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615" ], "instruction": "Navigate to the sink.", "instr_encoding": [ 101, 22149, 2000, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615" ], "refined_path": [ "0_edge_220_newN_1", "c35ee12417344d66b004d046df9842de", "0_edge_221_newN_1", [ "c35ee12417344d66b004d046df9842de", "0_edge_220_newN_1" ], "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615" ] }, { "episode_id": "A29CNQYJWMJ7G9:3WR9XG3T65E42XOOXC4W58L0EDE744", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -20.06835, -2.88446, -3.68832 ], "start_rotation": [ 0, 0.33374, 0, 0.94266 ], "object_category": "chair", "info": { "geodesic_distance": 25.29376, "euclidean_distance": 20.95235, "closest_goal_object_id": 3, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -9.47914, -3.9152, -21.80521 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_chair", "start_potision_viewpoint_id": "71130c3762f74484947a64c3046c18a3", "path": [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "instruction": "Go to the chair.", "instr_encoding": [ 101, 2175, 2000, 1996, 3242, 1012, 102 ], "original_path": [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3", "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ], "refined_path": [ "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "51d499bdd9794c669f6e8eeb4ab54052", "71130c3762f74484947a64c3046c18a3" ], "7155aa5a514a444a858781ce73d1746d", "0_edge_357_newN_0", "747202cfe7d7453fa924b3756a75b4fb", [ "0_edge_357_newN_0", "7155aa5a514a444a858781ce73d1746d", "71130c3762f74484947a64c3046c18a3", "51d499bdd9794c669f6e8eeb4ab54052", "0_edge_88_newN_0", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b" ], "1d6750beee5c4d52aa62ff238cb0896d", "9925e8e8fcbe469a875d7ebca3452d4f", "6e7a94e806f8436e8d1d70efdf3bf3d6", "8a2aeda8632c4fb38e51733e873ae813", "ad24c52938c34a25b7a7c694d4769f30", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b" ] }, { "episode_id": "AZPZDX26SYMFY:3DUZQ9U6SORPF8RV5B3U9PH9EPQVSL", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.43812, -4.04066, -14.69104 ], "start_rotation": [ 0, 0.54532, 0, 0.83823 ], "object_category": "gym_equipment", "info": { "geodesic_distance": 23.05948, "euclidean_distance": 14.91374, "closest_goal_object_id": 195, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -5.88067, -3.08446, -6.83002 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_gym_equipment", "start_potision_viewpoint_id": "7afcf1ae63e842e6900e23f8bdaeea3a", "path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "instruction": "Go to the equipment.", "instr_encoding": [ 101, 2175, 2000, 1996, 3941, 1012, 102 ], "original_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_384_newN_0", "0_edge_384_newN_1" ], "refined_path": [ "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "b634b67520bf4c579f044a8e433b021d", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7" ], "0_edge_384_newN_0", "0_edge_384_newN_1" ] }, { "episode_id": "A1R0689JPSQ3OF:3OLQQLKKNUSFEUMJNR56HK2050SEJ1", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.52494, 0.11554, -4.01835 ], "start_rotation": [ 0, 0.98316, 0, -0.18276 ], "object_category": "toilet", "info": { "geodesic_distance": 6.99378, "euclidean_distance": 6.26564, "closest_goal_object_id": 395, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -3.7076, 0.11554, 1.57833 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "15dc2cb2ace8454eaaeedea4f897cc5a", "path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", "3389b852c9c84bbeb9855d46d3637a1d", "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", "4f0a87d560244c2f926f2110e9dfc1e4", "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ], "refined_path": [ "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "8b5fb14f2f854a4ea7f05d76adf7a9d9", [ "15dc2cb2ace8454eaaeedea4f897cc5a", "8d2813d7fcef4b1baaf6fd9e481bf0e0" ], "2ba3d353cffb46eda191ea81569608f7", "3389b852c9c84bbeb9855d46d3637a1d", "0_edge_509_newN_1", [ "3389b852c9c84bbeb9855d46d3637a1d" ], "4f0a87d560244c2f926f2110e9dfc1e4", "0_edge_65_newN_0", [ "4f0a87d560244c2f926f2110e9dfc1e4" ], "0bee565558544262b0368f2a92702677", "2fb14459ed8d496fae1ea1683a23493b", "0405db8320e24c3abb2f1e7c3ce52810" ] }, { "episode_id": "A9K0CV70JWG1W:3Z3ZLGNNSKXTQJAZTX8JVUAP5CZQ37", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -6.28681, 0.11554, -0.46043 ], "start_rotation": [ 0, 0.11078, 0, -0.99385 ], "object_category": "cabinet", "info": { "geodesic_distance": 6.98605, "euclidean_distance": 5.87887, "closest_goal_object_id": 279, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -8.52262, 0.11554, -5.99465 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cabinet", "start_potision_viewpoint_id": "24dbd843e0fe400baa0228c00158bb29", "path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "instruction": "Locate the cabinet.", "instr_encoding": [ 101, 12453, 1996, 5239, 1012, 102 ], "original_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ], "refined_path": [ "24dbd843e0fe400baa0228c00158bb29", "8d2813d7fcef4b1baaf6fd9e481bf0e0", "15dc2cb2ace8454eaaeedea4f897cc5a", "ca485cbdb9c247a0b7b964a0589c4311", "cfb40a8a73414375a43798a7133d28c4" ] }, { "episode_id": "A13WYZ8AXD6ODX:3I0BTBYZAZO6IT2O1K7U6IFK4D00Y4", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -3.37536, -3.08446, -6.75519 ], "start_rotation": [ 0, 0.74015, 0, 0.67244 ], "object_category": "sink", "info": { "geodesic_distance": 5.7694, "euclidean_distance": 4.9194, "closest_goal_object_id": 1026, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.68914, -3.08446, -4.4414 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_sink", "start_potision_viewpoint_id": "0_edge_384_newN_0", "path": [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "372d9c5a8d394815a470573708b4f8cd", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "instruction": "Find the sink.", "instr_encoding": [ 101, 2424, 1996, 7752, 1012, 102 ], "original_path": [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "248dcb819089462a98fd16c5d7676fd7", "372d9c5a8d394815a470573708b4f8cd", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ], "refined_path": [ "0_edge_384_newN_0", "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0", [ "248dcb819089462a98fd16c5d7676fd7" ], "372d9c5a8d394815a470573708b4f8cd", [ "248dcb819089462a98fd16c5d7676fd7", "0_edge_272_newN_0" ], "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e", "0952da4444d04fd3a33c406da20d6f8e" ] }, { "episode_id": "A3T5UAYFKJBVTA:339ANSOTR75M5JUN1VV93E05POZIK2", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.12806, 0.11554, 0.73832 ], "start_rotation": [ 0, 0.98393, 0, -0.17853 ], "object_category": "cushion", "info": { "geodesic_distance": 1.53472, "euclidean_distance": 1.18854, "closest_goal_object_id": 531, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -16.9871, 0.11554, 1.13743 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "0_edge_344_newN_2", "path": [ "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", "0_edge_344_newN_2", "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ], "refined_path": [ "0_edge_344_newN_2", "643111d29ca04e74abff09ca7be0fcdc", [ "0_edge_344_newN_2" ], "0_edge_344_newN_1", "0_edge_343_newN_0", "209a0a0f9b4d4f3caaab3c25cbcd9105", [ "0_edge_343_newN_0", "0_edge_344_newN_1", "0_edge_343_newN_0" ] ] }, { "episode_id": "A19C2SO0IMRZ1L:3ZAZR5XV03LQHB799M2XFQQNGZSCZU", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -18.39478, 3.11554, -6.01303 ], "start_rotation": [ 0, 0.09989, 0, -0.995 ], "object_category": "seating", "info": { "geodesic_distance": 7.29713, "euclidean_distance": 6.78798, "closest_goal_object_id": 943, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -11.63081, 3.11554, -6.91236 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_seating", "start_potision_viewpoint_id": "2449c88db38b45a78a4227382dfbd3e4", "path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "0_edge_261_newN_0", "86f4a6bece3b4edc8e71cc0d03cef2ca", "6e0c4533325b431db69bee9e850f3d07", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "instruction": "Locate the seating.", "instr_encoding": [ 101, 12453, 1996, 10747, 1012, 102 ], "original_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "0_edge_261_newN_0", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee", "86f4a6bece3b4edc8e71cc0d03cef2ca", "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ], "refined_path": [ "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", [ "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", [ "447e9619e3b641f790ab3d9f8666b3d1" ], "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", [ "cd289dfb2a4d4161ab18c8b0e7889f0d" ], "0_edge_405_newN_1", "0_edge_405_newN_0", "a2131c9b8e674c3db73821fb924f1644", "31eced24029c4dacad2bba2b1a2b7af9", "81829ab350054bf297a7ebbb1eb4fcee", "fefbf5f40d364b0fb096d1d93aba4316", "dec940911e0a44e7b51b8fa218fb3550", "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", [ "5e83ef2965d445d18d539afdda8b88e5" ], "0_edge_261_newN_0", [ "5e83ef2965d445d18d539afdda8b88e5", "37376bc376de4a1bbff1e45f6f420d0f", "5e83ef2965d445d18d539afdda8b88e5", "dec940911e0a44e7b51b8fa218fb3550", "fefbf5f40d364b0fb096d1d93aba4316", "81829ab350054bf297a7ebbb1eb4fcee" ], "86f4a6bece3b4edc8e71cc0d03cef2ca", [ "81829ab350054bf297a7ebbb1eb4fcee", "31eced24029c4dacad2bba2b1a2b7af9", "a2131c9b8e674c3db73821fb924f1644", "0_edge_405_newN_0", "0_edge_405_newN_1", "cd289dfb2a4d4161ab18c8b0e7889f0d", "ea6f8b054a3b493482b183a6e92b9aa7", "cd289dfb2a4d4161ab18c8b0e7889f0d", "447e9619e3b641f790ab3d9f8666b3d1", "0_edge_439_newN_0", "447e9619e3b641f790ab3d9f8666b3d1", "e1ff49c1e5114971af1f3f6df0c155b2", "0_edge_225_newN_1", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443" ], "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "5260f113c5f542a8b6b115cbdfc9fef5", "6dbb762da390463f83fc26b02e723259", "17cfb9ce044443479e0a2a89925316a5", "0_edge_215_newN_0" ] }, { "episode_id": "AKYXQY5IP7S0Z:34YB12FSQ0R3ZGOVWJ8MXFFSJB2GML", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -11.40958, 2.55141, -11.48575 ], "start_rotation": [ 0, 0.98463, 0, 0.17464 ], "object_category": "shower", "info": { "geodesic_distance": 14.63553, "euclidean_distance": 11.88454, "closest_goal_object_id": 1038, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -19.52385, 3.11554, -2.72555 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_shower", "start_potision_viewpoint_id": "0_edge_127_newN_1", "path": [ "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "0_edge_115_newN_0", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6f73ed74234145baac0b9b2854a95610", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "0_edge_443_newN_0", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "instruction": "Go to the shower.", "instr_encoding": [ 101, 2175, 2000, 1996, 6457, 1012, 102 ], "original_path": [ "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_115_newN_0", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", "53652351502d4b5dba01ad8f23be3443", "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443", "6f73ed74234145baac0b9b2854a95610", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_443_newN_0", "ba3d3163aa4a4211a0bda0b7adf07b60", "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35", "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ], "refined_path": [ "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b", [ "ba9458d357074f62bee47dd2e5556854", "0_edge_127_newN_1" ], "27d23c2605d24971a697f2404671fa04", "0_edge_112_newN_1", "0_edge_112_newN_0", "be542a5895594a1d98592023855f3a30", "0_edge_133_newN_0", [ "be542a5895594a1d98592023855f3a30", "0_edge_112_newN_0", "0_edge_112_newN_1", "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "27d23c2605d24971a697f2404671fa04" ], "0_edge_115_newN_0", [ "27d23c2605d24971a697f2404671fa04", "0_edge_127_newN_1", "ba9458d357074f62bee47dd2e5556854", "e8f67d7392804d5e9284c74c2a5d926b" ], "2f782cbda7884257a49e9c7538e1d87b", "95c9fb86dcb14fcabab35769b14beb1e", "5260f113c5f542a8b6b115cbdfc9fef5", "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "53652351502d4b5dba01ad8f23be3443", "6e0c4533325b431db69bee9e850f3d07", [ "53652351502d4b5dba01ad8f23be3443" ], "0_edge_262_newN_1", "6e8e41636dc84e94af80d009663e7c75", "2449c88db38b45a78a4227382dfbd3e4", [ "6e8e41636dc84e94af80d009663e7c75", "0_edge_262_newN_1", "53652351502d4b5dba01ad8f23be3443" ], "6f73ed74234145baac0b9b2854a95610", [ "36932f17cd6f4351ac3a9efd6632e0c9", "0_edge_148_newN_0", "36932f17cd6f4351ac3a9efd6632e0c9" ], "0_edge_225_newN_1", "e1ff49c1e5114971af1f3f6df0c155b2", "447e9619e3b641f790ab3d9f8666b3d1", "efe92e05c7f044dfb7cfc92e3cb2f2b9", "dcbc89b871b54cdd98d8b59b700d44a3", "ba3d3163aa4a4211a0bda0b7adf07b60", "0_edge_220_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "0_edge_443_newN_0", [ "ba3d3163aa4a4211a0bda0b7adf07b60" ], "eb3774d7d7c9470ca3ef2727c4cb58a7", "7bcfa9163bbc47e489988d011b395a35", "31e2ead1db884aa0974a21674f83b488", "0_edge_443_newN_1", [ "31e2ead1db884aa0974a21674f83b488", "7bcfa9163bbc47e489988d011b395a35" ], "36f960692401420f90d5448db9e22615", "4280d68aa5de47788b1edb650c6280c7" ] }, { "episode_id": "A1R0689JPSQ3OF:392CY0QWG3U1RH5KG38TWXB8CXRI42", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -16.77684, -3.88446, -10.8174 ], "start_rotation": [ 0, 0.90334, 0, 0.42894 ], "object_category": "cushion", "info": { "geodesic_distance": 22.95604, "euclidean_distance": 10.32967, "closest_goal_object_id": 205, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -7.47866, -3.08446, -6.36186 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_cushion", "start_potision_viewpoint_id": "32788068265a4d5fa52a3cc0cafee00f", "path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "0_edge_272_newN_1", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "instruction": "Navigate to the cushion.", "instr_encoding": [ 101, 22149, 2000, 1996, 22936, 1012, 102 ], "original_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "aa00867860b84d36aa756d2dd29fbf5e", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", "a8620ab48374402187c81c4ccb48e01b", "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "0_edge_272_newN_1", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", "97d4efbf203845a19e094f8f5383d33b", "0_edge_88_newN_0", "0_edge_88_newN_1" ], "refined_path": [ "32788068265a4d5fa52a3cc0cafee00f", "09065b7df3804647b838b3decc672389", "b3fb49d922374aaf81242f21d39d214d", "a5adbda8c1314346a5dc10d9e0f3f908", "d2e318aae7cb4c0198f72c97f7d2aedb", "853fb2412aa04958bdeb58a0c2a5f654", "280d28cd4c80476384046234022051f9", "b726980e1c804d86856a2d0dd472e571", "aa00867860b84d36aa756d2dd29fbf5e", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", [ "582a46d4780b498a9b04d0f64f806f4b" ], "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", [ "aa00867860b84d36aa756d2dd29fbf5e" ], "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "74230db02c1748bb89b3ada696cb5deb" ], "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2", [ "d8404ae7e4a045c29e8a991181424a01", "aa00867860b84d36aa756d2dd29fbf5e", "691f6fa3625b48539b1a686c2fbdcaad", "16aea59da05d408683abb0ecbea14077", "582a46d4780b498a9b04d0f64f806f4b", "7afcf1ae63e842e6900e23f8bdaeea3a", "582a46d4780b498a9b04d0f64f806f4b", "16aea59da05d408683abb0ecbea14077", "691f6fa3625b48539b1a686c2fbdcaad", "d8404ae7e4a045c29e8a991181424a01", "5d679afd01cb49259c38c0cb750319d2" ], "a8620ab48374402187c81c4ccb48e01b", [ "5d679afd01cb49259c38c0cb750319d2", "d8404ae7e4a045c29e8a991181424a01", "74230db02c1748bb89b3ada696cb5deb", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908" ], "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5" ], "0_edge_272_newN_1", [ "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "72e5cd657af64e8297f6ee20aa46edd5", "349df9d6cf9647a38ec403d5fcffb690", "a08659774e5a42679b1fa25c23dfd623", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623" ], "ad24c52938c34a25b7a7c694d4769f30", "8a2aeda8632c4fb38e51733e873ae813", "6e7a94e806f8436e8d1d70efdf3bf3d6", "9925e8e8fcbe469a875d7ebca3452d4f", "1d6750beee5c4d52aa62ff238cb0896d", "97d4efbf203845a19e094f8f5383d33b", "0_edge_435_newN_1", [ "97d4efbf203845a19e094f8f5383d33b" ], "0_edge_88_newN_0", "0_edge_88_newN_1" ] }, { "episode_id": "A2L26DMSVUEDP6:3U088ZLJVMW2TO7OMJP6LLU4DVQ0WV", "scene_id": "mp3d/PX4nDJXEHrG/PX4nDJXEHrG.glb", "start_position": [ -7.44111, -4.08446, -16.19901 ], "start_rotation": [ 0, 0.76807, 0, 0.64036 ], "object_category": "toilet", "info": { "geodesic_distance": 14.52605, "euclidean_distance": 10.77052, "closest_goal_object_id": 1021, "navigation_bounds": [ [ -22.09707, -5.28445, -24.82278 ], [ 0.79559, 8.0092, 18.47385 ] ], "best_viewpoint_position": [ -6.78324, -3.08446, -5.55056 ] }, "goals": [], "goals_key": "PX4nDJXEHrG.glb_toilet", "start_potision_viewpoint_id": "b726980e1c804d86856a2d0dd472e571", "path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "38808050304946dfb262966b02c6ae4e" ], "instruction": "Go to the toilet.", "instr_encoding": [ 101, 2175, 2000, 1996, 11848, 1012, 102 ], "original_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", "b726980e1c804d86856a2d0dd472e571", "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", "6f87bf60f1984f31a2af16a91f502ad9", "38808050304946dfb262966b02c6ae4e" ], "refined_path": [ "b726980e1c804d86856a2d0dd472e571", "56afcfda8a6b45b499770f816eb67944", [ "b726980e1c804d86856a2d0dd472e571" ], "280d28cd4c80476384046234022051f9", "853fb2412aa04958bdeb58a0c2a5f654", "d2e318aae7cb4c0198f72c97f7d2aedb", "a5adbda8c1314346a5dc10d9e0f3f908", "cc507e886ab449b8980fcde8de54b4e1", "a08659774e5a42679b1fa25c23dfd623", "349df9d6cf9647a38ec403d5fcffb690", "72e5cd657af64e8297f6ee20aa46edd5", "6f87bf60f1984f31a2af16a91f502ad9", "0_edge_482_newN_0", [ "6f87bf60f1984f31a2af16a91f502ad9" ], "38808050304946dfb262966b02c6ae4e" ] } ]